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+{
+  "seen": [
+    "Pick the rounded-top white shoe up from the table and put it on the mat",
+    "Grab the rounded-top white shoe from the table and place it on the mat",
+    "Use the left arm to grab the the medium shoe with synthetic material and put it on the mat",
+    "With the left arm, grab the shoe with black accents from the table and place it on the mat",
+    "Move the medium shoe with synthetic material from the table and place it down on the mat",
+    "Move the shoe with black accents from the table to the mat",
+    "Retrieve the smooth surface white shoe from the table and set it on the mat",
+    "Use the left arm to lift the the medium-sized shoe from the table and set it on the mat",
+    "Pick the medium-sized shoe up from the table and drop it directly on the mat",
+    "Lift the shoe with black accents and place it on the mat",
+    "Use the left arm to grab the synthetic leather white shoe from the table and move it to the mat",
+    "Take the medium shoe with synthetic material from the table and place it on the mat",
+    "Pick up the shoe with black accents and move it to the mat",
+    "Grab the synthetic leather white shoe using the left arm, move it from the table to the mat",
+    "Take the the white shoe with black lines from the table using the left arm and drop it on the mat",
+    "Use the left arm to lift the shoe with black accents from the table and set it on the mat",
+    "Move the rounded-top white shoe from the table to the mat in one fluid motion",
+    "Lift the rounded-top white shoe off the table using the left arm and drop it on the mat",
+    "Grab the the white shoe with three stripes on the table and move it to the mat",
+    "Use the left arm to lift the white shoe with curved top from the table and set it on the mat",
+    "Take the rubber-soled black-striped shoe with the left arm and place it carefully on the mat",
+    "Pick the the rubber-soled black-striped shoe from the table and place it gently on the mat",
+    "Take the the medium-sized shoe off the table and put it on the mat",
+    "Lift the sports shoe white and black from the table and gently place it onto the mat",
+    "Using the left arm, grasp the medium shoe with synthetic material from the table and place it onto the mat",
+    "Grab the white shoe with black lines using the left arm and drop it on the mat",
+    "Transfer the synthetic leather white shoe from the table to the mat",
+    "Use the left arm to grab the the rounded-top white shoe from the table and set it on the mat",
+    "Pick up the medium shoe with synthetic material with the left arm, move it from the table, and set it on the mat",
+    "Lift the medium shoe with synthetic material using the left arm from the table and place it on the mat",
+    "Use the left arm to pick the sports shoe white and black off the table and move it onto the mat",
+    "With the left arm, grab the white shoe with black lines off the table and place it onto the mat",
+    "Using the left arm, lift the medium shoe with synthetic material from the table and place it onto the mat",
+    "Use the left arm to pick up the medium shoe with synthetic material from the table and drop it on the mat",
+    "Lift the the shoe with black accents from the table and place it onto the mat",
+    "Use the left arm to grab the white shoe with black lines and transfer it to the mat",
+    "Use the left arm to pick the sports shoe white and black and position it on the mat",
+    "Grab the white shoe with black lines from the table with the left arm and place it on the mat",
+    "Lift the smooth surface white shoe from the table and place it carefully on the mat",
+    "Remove the smooth surface white shoe from the table and lay it on the mat",
+    "Pick the the white shoe off the table and position it on the mat",
+    "Lift the the shoe with black accents from the table using the left arm and place it on the mat",
+    "With the left arm, pick the medium shoe with synthetic material up from the table and put it on the mat",
+    "Take the synthetic leather white shoe from the table and put it on the mat",
+    "Take the shoe with black accents from the table and position it on the mat",
+    "Take the synthetic leather white shoe and put it on the mat",
+    "Move the shoe with black accents from the table to the mat",
+    "Pick up the rubber-soled black-striped shoe from the table and set it on the mat",
+    "Take the white shoe with curved top from the table and carefully drop it on the mat",
+    "Pick up the white shoe with black lines with the left arm from the table and place it on the mat",
+    "Pick the sports shoe white and black up from the table and put it on the mat",
+    "Grab the medium shoe with synthetic material from the table and place it on the mat",
+    "Use the left arm to grab the the medium shoe with synthetic material and put it on the mat",
+    "With the left arm, grab the sports shoe white and black from the table and place it on the mat",
+    "Move the medium shoe with synthetic material from the table and place it down on the mat",
+    "Move the smooth surface white shoe from the table to the mat",
+    "Retrieve the smooth surface white shoe from the table and set it on the mat",
+    "Use the left arm to lift the the rounded-top white shoe from the table and set it on the mat",
+    "Pick the medium-sized shoe up from the table and drop it directly on the mat",
+    "Lift the rubber-soled black-striped shoe and place it on the mat",
+    "Use the left arm to grab the rounded-top white shoe from the table and move it to the mat",
+    "Take the medium-sized shoe from the table and place it on the mat",
+    "Pick up the white shoe with curved top and move it to the mat",
+    "Grab the sports shoe white and black using the left arm, move it from the table to the mat",
+    "Take the the white shoe with curved top from the table using the left arm and drop it on the mat",
+    "Use the left arm to lift the white shoe with three stripes from the table and set it on the mat",
+    "Move the white shoe with black lines from the table to the mat in one fluid motion",
+    "Lift the white shoe with curved top off the table using the left arm and drop it on the mat",
+    "Grab the the medium shoe with synthetic material on the table and move it to the mat",
+    "Use the left arm to lift the white shoe with black lines from the table and set it on the mat",
+    "Take the white shoe with the left arm and place it carefully on the mat",
+    "Pick the the smooth surface white shoe from the table and place it gently on the mat",
+    "Take the the rounded-top white shoe off the table and put it on the mat",
+    "Lift the medium shoe with synthetic material from the table and gently place it onto the mat",
+    "Using the left arm, grasp the rubber-soled black-striped shoe from the table and place it onto the mat",
+    "Grab the medium shoe with synthetic material using the left arm and drop it on the mat",
+    "Transfer the white shoe with curved top from the table to the mat",
+    "Use the left arm to grab the the synthetic leather white shoe from the table and set it on the mat",
+    "Pick up the rounded-top white shoe with the left arm, move it from the table, and set it on the mat",
+    "Lift the sports shoe white and black using the left arm from the table and place it on the mat",
+    "Use the left arm to pick the rounded-top white shoe off the table and move it onto the mat",
+    "With the left arm, grab the white shoe with curved top off the table and place it onto the mat",
+    "Using the left arm, lift the rubber-soled black-striped shoe from the table and place it onto the mat",
+    "Use the left arm to pick up the shoe with black accents from the table and drop it on the mat",
+    "Lift the the rubber-soled black-striped shoe from the table and place it onto the mat",
+    "Use the left arm to grab the synthetic leather white shoe and transfer it to the mat",
+    "Use the left arm to pick the sports shoe white and black and position it on the mat",
+    "Grab the synthetic leather white shoe from the table with the left arm and place it on the mat",
+    "Lift the sports shoe white and black from the table and place it carefully on the mat",
+    "Remove the medium shoe with synthetic material from the table and lay it on the mat",
+    "Pick the the white shoe with black lines off the table and position it on the mat",
+    "Lift the the shoe with black accents from the table using the left arm and place it on the mat",
+    "With the left arm, pick the white shoe with curved top up from the table and put it on the mat",
+    "Take the white shoe with black lines from the table and put it on the mat",
+    "Take the white shoe with three stripes from the table and position it on the mat",
+    "Take the medium-sized shoe and put it on the mat",
+    "Move the rounded-top white shoe from the table to the mat",
+    "Pick up the sports shoe white and black from the table and set it on the mat",
+    "Take the synthetic leather white shoe from the table and carefully drop it on the mat",
+    "Pick up the smooth surface white shoe with the left arm from the table and place it on the mat"
+  ],
+  "unseen": [
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode1.json b/place_shoe/demo_clean/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..652d75726f587594f6beef8fdda066aef19accb1
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift the the shoe with curved sole from the table and set it on the mat",
+    "Lift the comfortable shoe for walking from the table and place it carefully on the mat",
+    "Use the right arm to pick the black and white shoe off the table and move it onto the mat",
+    "Take the the shoe made of rubber and leather from the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the dual-tone shoe with sleek design and transfer it to the mat",
+    "Grab the the rubber-soled shoe with lace-up top on the table and move it to the mat",
+    "Pick up the shoe with smooth top and grippy sole and move it to the mat",
+    "Grab the comfortable shoe for walking using the right arm, move it from the table to the mat",
+    "Use the right arm to grab the shoe with curved sole from the table and move it to the mat",
+    "Use the right arm to lift the medium-sized black and white shoe from the table and set it on the mat",
+    "Transfer the shoe made of rubber and leather from the table to the mat",
+    "Using the right arm, lift the synthetic leather shoe from the table and place it onto the mat",
+    "Pick up the average adult-sized shoe with the right arm, move it from the table, and set it on the mat",
+    "Grab the synthetic leather shoe from the table and place it on the mat",
+    "Take the dual-tone shoe with sleek design from the table and carefully drop it on the mat",
+    "Retrieve the shoe with curved sole from the table and set it on the mat",
+    "Grab the black and white shoe using the right arm and drop it on the mat",
+    "Take the synthetic leather shoe from the table and place it on the mat",
+    "Remove the black and white shoe from the table and lay it on the mat",
+    "Take the wearable foot protector shoe and put it on the mat",
+    "Take the comfortable shoe for walking from the table and position it on the mat",
+    "Use the right arm to grab the the black and white shoe from the table and set it on the mat",
+    "Using the right arm, grasp the dual-tone shoe with sleek design from the table and place it onto the mat",
+    "With the right arm, grab the black and white shoe off the table and place it onto the mat",
+    "Lift the black shoe with white accents from the table and gently place it onto the mat",
+    "Grab the medium-sized black and white shoe from the table with the right arm and place it on the mat",
+    "Lift the the black shoe with white accents from the table and place it onto the mat",
+    "Take the shoe made of rubber and leather from the table and put it on the mat",
+    "Lift the shoe made of rubber and leather off the table using the right arm and drop it on the mat",
+    "With the right arm, grab the synthetic leather shoe from the table and place it on the mat",
+    "Pick the the shoe made of rubber and leather from the table and place it gently on the mat",
+    "Pick the the average adult-sized shoe off the table and position it on the mat",
+    "Pick the comfortable shoe for walking up from the table and put it on the mat",
+    "Use the right arm to lift the average adult-sized shoe from the table and set it on the mat",
+    "Take the the comfortable shoe for walking off the table and put it on the mat",
+    "Use the right arm to pick the shoe with curved sole and position it on the mat",
+    "Lift the the wearable foot protector shoe from the table using the right arm and place it on the mat",
+    "Take the black and white shoe with the right arm and place it carefully on the mat",
+    "Pick up the rubber-soled shoe with lace-up top with the right arm from the table and place it on the mat",
+    "With the right arm, pick the medium-sized black and white shoe up from the table and put it on the mat",
+    "Move the dual-tone shoe with sleek design from the table and place it down on the mat",
+    "Pick the black and white shoe up from the table and drop it directly on the mat",
+    "Use the right arm to grab the the shoe with curved sole and put it on the mat",
+    "Move the medium-sized black and white shoe from the table to the mat",
+    "Move the black and white shoe from the table to the mat in one fluid motion",
+    "Pick up the rubber-soled shoe with lace-up top from the table and set it on the mat",
+    "Lift the wearable foot protector shoe using the right arm from the table and place it on the mat",
+    "Move the medium-sized black and white shoe from the table to the mat",
+    "Lift the black and white shoe and place it on the mat",
+    "Use the right arm to pick up the shoe with curved sole from the table and drop it on the mat",
+    "Use the right arm to lift the the comfortable shoe for walking from the table and set it on the mat",
+    "Lift the shoe made of rubber and leather from the table and place it carefully on the mat",
+    "Use the right arm to pick the medium-sized black and white shoe off the table and move it onto the mat",
+    "Take the the black and white shoe from the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the medium-sized black and white shoe and transfer it to the mat",
+    "Grab the the shoe made of rubber and leather on the table and move it to the mat",
+    "Pick up the black shoe with white accents and move it to the mat",
+    "Grab the medium-sized black and white shoe using the right arm, move it from the table to the mat",
+    "Use the right arm to grab the average adult-sized shoe from the table and move it to the mat",
+    "Use the right arm to lift the wearable foot protector shoe from the table and set it on the mat",
+    "Transfer the dual-tone shoe with sleek design from the table to the mat",
+    "Using the right arm, lift the dual-tone shoe with sleek design from the table and place it onto the mat",
+    "Pick up the comfortable shoe for walking with the right arm, move it from the table, and set it on the mat",
+    "Grab the shoe made of rubber and leather from the table and place it on the mat",
+    "Take the shoe with smooth top and grippy sole from the table and carefully drop it on the mat",
+    "Retrieve the rubber-soled shoe with lace-up top from the table and set it on the mat",
+    "Grab the dual-tone shoe with sleek design using the right arm and drop it on the mat",
+    "Take the shoe with curved sole from the table and place it on the mat",
+    "Remove the comfortable shoe for walking from the table and lay it on the mat",
+    "Take the shoe with curved sole and put it on the mat",
+    "Take the medium-sized black and white shoe from the table and position it on the mat",
+    "Use the right arm to grab the the rubber-soled shoe with lace-up top from the table and set it on the mat",
+    "Using the right arm, grasp the black and white shoe from the table and place it onto the mat",
+    "With the right arm, grab the average adult-sized shoe off the table and place it onto the mat",
+    "Lift the dual-tone shoe with sleek design from the table and gently place it onto the mat",
+    "Grab the dual-tone shoe with sleek design from the table with the right arm and place it on the mat",
+    "Lift the the wearable foot protector shoe from the table and place it onto the mat",
+    "Take the comfortable shoe for walking from the table and put it on the mat",
+    "Lift the wearable foot protector shoe off the table using the right arm and drop it on the mat",
+    "With the right arm, grab the synthetic leather shoe from the table and place it on the mat",
+    "Pick the the synthetic leather shoe from the table and place it gently on the mat",
+    "Pick the the medium-sized black and white shoe off the table and position it on the mat",
+    "Pick the average adult-sized shoe up from the table and put it on the mat",
+    "Use the right arm to lift the dual-tone shoe with sleek design from the table and set it on the mat",
+    "Take the the shoe with curved sole off the table and put it on the mat",
+    "Use the right arm to pick the dual-tone shoe with sleek design and position it on the mat",
+    "Lift the the shoe with curved sole from the table using the right arm and place it on the mat",
+    "Take the black and white shoe with the right arm and place it carefully on the mat",
+    "Pick up the average adult-sized shoe with the right arm from the table and place it on the mat",
+    "With the right arm, pick the synthetic leather shoe up from the table and put it on the mat",
+    "Move the wearable foot protector shoe from the table and place it down on the mat",
+    "Pick the wearable foot protector shoe up from the table and drop it directly on the mat",
+    "Use the right arm to grab the the black shoe with white accents and put it on the mat",
+    "Move the shoe with smooth top and grippy sole from the table to the mat",
+    "Move the average adult-sized shoe from the table to the mat in one fluid motion",
+    "Pick up the wearable foot protector shoe from the table and set it on the mat",
+    "Lift the dual-tone shoe with sleek design using the right arm from the table and place it on the mat",
+    "Move the shoe with smooth top and grippy sole from the table to the mat",
+    "Lift the shoe with curved sole and place it on the mat",
+    "Use the right arm to pick up the shoe made of rubber and leather from the table and drop it on the mat"
+  ],
+  "unseen": [
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the right arm to lift the black shoe with white midsole and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Use the right arm to lift the black shoe with white midsole and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Use the right arm to lift the black shoe with white midsole and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the right arm to lift the black shoe with white midsole and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode10.json b/place_shoe/demo_clean/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..75a6c57592ca19afe5ddfd6897b3cc4891d0b873
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the red shoe rounded at front with the right arm, move it from the table, and set it on the mat",
+    "Retrieve the single red shoe from the table and set it on the mat",
+    "Lift the medium red shoe from the table and gently place it onto the mat",
+    "Pick the the smooth-textured red shoe from the table and place it gently on the mat",
+    "Use the right arm to grab the medium red shoe and transfer it to the mat",
+    "Take the red shoe with white sole from the table and position it on the mat",
+    "Move the red shoe with white sole from the table to the mat",
+    "Use the right arm to lift the grooved sole red shoe from the table and set it on the mat",
+    "With the right arm, pick the grooved sole red shoe up from the table and put it on the mat",
+    "Using the right arm, lift the lace-up red sports shoe from the table and place it onto the mat",
+    "Use the right arm to grab the the grooved sole red shoe and put it on the mat",
+    "Lift the red shoe with white sole using the right arm from the table and place it on the mat",
+    "Grab the smooth-textured red shoe from the table with the right arm and place it on the mat",
+    "Grab the single red shoe using the right arm, move it from the table to the mat",
+    "Lift the smooth-textured red shoe from the table and place it carefully on the mat",
+    "Transfer the grooved sole red shoe from the table to the mat",
+    "Use the right arm to lift the footwear with red top white sole from the table and set it on the mat",
+    "Take the red sneaker from the table and carefully drop it on the mat",
+    "Remove the grooved sole red shoe from the table and lay it on the mat",
+    "Use the right arm to grab the red shoe rounded at front from the table and move it to the mat",
+    "Pick up the lace-up red sports shoe and move it to the mat",
+    "Move the red sneaker from the table to the mat in one fluid motion",
+    "Pick the footwear with red top white sole up from the table and drop it directly on the mat",
+    "Using the right arm, grasp the grooved sole red shoe from the table and place it onto the mat",
+    "Take the sports shoe and put it on the mat",
+    "Grab the grooved sole red shoe using the right arm and drop it on the mat",
+    "Pick the the grooved sole red shoe off the table and position it on the mat",
+    "Move the lace-up red sports shoe from the table to the mat",
+    "Take the the red shoe rounded at front off the table and put it on the mat",
+    "Take the red shoe with white sole with the right arm and place it carefully on the mat",
+    "Pick up the shoe with flat rubber sole with the right arm from the table and place it on the mat",
+    "Lift the red sneaker and place it on the mat",
+    "With the right arm, grab the footwear with red top white sole off the table and place it onto the mat",
+    "Take the red shoe with white sole from the table and put it on the mat",
+    "Lift the the lace-up red sports shoe from the table and place it onto the mat",
+    "Take the the single red shoe from the table using the right arm and drop it on the mat",
+    "Take the footwear with red top white sole from the table and place it on the mat",
+    "Use the right arm to grab the the medium red shoe from the table and set it on the mat",
+    "Use the right arm to pick the red shoe with white sole off the table and move it onto the mat",
+    "Grab the white bottom sports shoe from the table and place it on the mat",
+    "Lift the the medium red shoe from the table using the right arm and place it on the mat",
+    "Grab the the shoe with flat rubber sole on the table and move it to the mat",
+    "Lift the single red shoe off the table using the right arm and drop it on the mat",
+    "Pick up the single red shoe from the table and set it on the mat",
+    "Use the right arm to pick the lace-up red sports shoe and position it on the mat",
+    "Pick the red sneaker up from the table and put it on the mat",
+    "Use the right arm to lift the the medium red shoe from the table and set it on the mat",
+    "Move the smooth-textured red shoe from the table and place it down on the mat",
+    "Use the right arm to pick up the white bottom sports shoe from the table and drop it on the mat",
+    "With the right arm, grab the smooth-textured red shoe from the table and place it on the mat",
+    "Pick up the red shoe rounded at front with the right arm, move it from the table, and set it on the mat",
+    "Retrieve the red sneaker from the table and set it on the mat",
+    "Lift the lace-up red sports shoe from the table and gently place it onto the mat",
+    "Pick the the lace-up red sports shoe from the table and place it gently on the mat",
+    "Use the right arm to grab the white bottom sports shoe and transfer it to the mat",
+    "Take the red shoe with white sole from the table and position it on the mat",
+    "Move the sports shoe from the table to the mat",
+    "Use the right arm to lift the footwear with red top white sole from the table and set it on the mat",
+    "With the right arm, pick the red shoe with white sole up from the table and put it on the mat",
+    "Using the right arm, lift the lace-up red sports shoe from the table and place it onto the mat",
+    "Use the right arm to grab the the red sneaker and put it on the mat",
+    "Lift the medium red shoe using the right arm from the table and place it on the mat",
+    "Grab the red sneaker from the table with the right arm and place it on the mat",
+    "Grab the red sneaker using the right arm, move it from the table to the mat",
+    "Lift the sports shoe from the table and place it carefully on the mat",
+    "Transfer the grooved sole red shoe from the table to the mat",
+    "Use the right arm to lift the medium red shoe from the table and set it on the mat",
+    "Take the red shoe with white sole from the table and carefully drop it on the mat",
+    "Remove the single red shoe from the table and lay it on the mat",
+    "Use the right arm to grab the shoe with flat rubber sole from the table and move it to the mat",
+    "Pick up the red shoe with white sole and move it to the mat",
+    "Move the smooth-textured red shoe from the table to the mat in one fluid motion",
+    "Pick the footwear with red top white sole up from the table and drop it directly on the mat",
+    "Using the right arm, grasp the red shoe with white sole from the table and place it onto the mat",
+    "Take the red sneaker and put it on the mat",
+    "Grab the single red shoe using the right arm and drop it on the mat",
+    "Pick the the medium red shoe off the table and position it on the mat",
+    "Move the footwear with red top white sole from the table to the mat",
+    "Take the the red sneaker off the table and put it on the mat",
+    "Take the single red shoe with the right arm and place it carefully on the mat",
+    "Pick up the red shoe with white sole with the right arm from the table and place it on the mat",
+    "Lift the red shoe rounded at front and place it on the mat",
+    "With the right arm, grab the shoe with flat rubber sole off the table and place it onto the mat",
+    "Take the white bottom sports shoe from the table and put it on the mat",
+    "Lift the the red shoe rounded at front from the table and place it onto the mat",
+    "Take the the red sneaker from the table using the right arm and drop it on the mat",
+    "Take the white bottom sports shoe from the table and place it on the mat",
+    "Use the right arm to grab the the shoe with flat rubber sole from the table and set it on the mat",
+    "Use the right arm to pick the lace-up red sports shoe off the table and move it onto the mat",
+    "Grab the footwear with red top white sole from the table and place it on the mat",
+    "Lift the the grooved sole red shoe from the table using the right arm and place it on the mat",
+    "Grab the the single red shoe on the table and move it to the mat",
+    "Lift the red shoe with white sole off the table using the right arm and drop it on the mat",
+    "Pick up the red shoe rounded at front from the table and set it on the mat",
+    "Use the right arm to pick the lace-up red sports shoe and position it on the mat",
+    "Pick the red shoe rounded at front up from the table and put it on the mat",
+    "Use the right arm to lift the the lace-up red sports shoe from the table and set it on the mat",
+    "Move the red shoe rounded at front from the table and place it down on the mat",
+    "Use the right arm to pick up the lace-up red sports shoe from the table and drop it on the mat",
+    "With the right arm, grab the red shoe with white sole from the table and place it on the mat"
+  ],
+  "unseen": [
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Use the right arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Use the right arm to lift the red shoe and drop it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Grab the red shoe and set it on the mat",
+    "Use the right arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Use the right arm to lift the red sneaker medium sized and drop it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Use the right arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Use the right arm to lift the red sneaker medium sized and drop it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Use the right arm to grab the red shoe from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Use the right arm to lift the red shoe and drop it on the mat",
+    "Grab the the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Grab the red shoe and set it on the mat",
+    "Use the right arm to grab the red shoe from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Use the right arm to lift the synthetic shoe upper and drop it on the mat",
+    "Grab the the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Grab the red shoe and set it on the mat",
+    "Use the right arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Pick up the the red sneaker medium sized from the table and place it on the mat",
+    "Use the right arm to lift the synthetic shoe upper and drop it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Use the right arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Use the right arm to lift the synthetic shoe upper and drop it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Use the right arm to grab the red shoe from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Use the right arm to lift the red sneaker medium sized and drop it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Use the right arm to grab the red shoe from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Use the right arm to lift the synthetic shoe upper and drop it on the mat",
+    "Grab the the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Use the right arm to grab the red shoe from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the the red sneaker medium sized from the table and place it on the mat",
+    "Use the right arm to lift the synthetic shoe upper and drop it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode11.json b/place_shoe/demo_clean/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..45ffa29a5063df813a2ff03b1629eb790f94f533
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the shoe with smooth leather upper with the right arm and place it carefully on the mat",
+    "Lift the shoe with smooth leather upper using the right arm from the table and place it on the mat",
+    "Retrieve the black-striped athletic shoe from the table and set it on the mat",
+    "Use the right arm to grab the sports shoe and transfer it to the mat",
+    "Using the right arm, grasp the sports shoe from the table and place it onto the mat",
+    "Use the right arm to lift the shoe with smooth leather upper from the table and set it on the mat",
+    "Pick up the footwear with white top with the right arm, move it from the table, and set it on the mat",
+    "Use the right arm to grab the the footwear with white top from the table and set it on the mat",
+    "Move the rounded-toe gym shoe from the table to the mat",
+    "Take the the rounded-toe gym shoe from the table using the right arm and drop it on the mat",
+    "With the right arm, grab the white shoe with black accents from the table and place it on the mat",
+    "Grab the black-striped athletic shoe using the right arm and drop it on the mat",
+    "Pick the white shoe up from the table and drop it directly on the mat",
+    "Grab the brown sole shoe from the table with the right arm and place it on the mat",
+    "Lift the the sports shoe from the table and place it onto the mat",
+    "Use the right arm to lift the shoe with textured brown sole from the table and set it on the mat",
+    "Lift the lace-up shoe off the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the the shoe with textured brown sole from the table and set it on the mat",
+    "Remove the black-striped athletic shoe from the table and lay it on the mat",
+    "With the right arm, grab the shoe with smooth leather upper off the table and place it onto the mat",
+    "Take the sports shoe and put it on the mat",
+    "Use the right arm to grab the rounded-toe gym shoe from the table and move it to the mat",
+    "Pick the the rounded-toe gym shoe from the table and place it gently on the mat",
+    "Pick up the white shoe with black accents and move it to the mat",
+    "With the right arm, pick the shoe with smooth leather upper up from the table and put it on the mat",
+    "Lift the lace-up shoe from the table and place it carefully on the mat",
+    "Lift the black-striped athletic shoe from the table and gently place it onto the mat",
+    "Take the rounded-toe gym shoe from the table and position it on the mat",
+    "Use the right arm to pick the white shoe with black accents and position it on the mat",
+    "Move the lace-up shoe from the table to the mat",
+    "Lift the the brown sole shoe from the table using the right arm and place it on the mat",
+    "Pick the brown sole shoe up from the table and put it on the mat",
+    "Use the right arm to pick up the white shoe with rubber bottom from the table and drop it on the mat",
+    "Lift the white shoe with rubber bottom and place it on the mat",
+    "Take the white shoe with black accents from the table and carefully drop it on the mat",
+    "Move the lace-up black and white shoe from the table to the mat in one fluid motion",
+    "Transfer the lace-up black and white shoe from the table to the mat",
+    "Grab the white shoe with black accents using the right arm, move it from the table to the mat",
+    "Grab the the shoe with smooth leather upper on the table and move it to the mat",
+    "Move the black-striped athletic shoe from the table and place it down on the mat",
+    "Use the right arm to pick the rounded-toe gym shoe off the table and move it onto the mat",
+    "Using the right arm, lift the white shoe with black accents from the table and place it onto the mat",
+    "Use the right arm to grab the the shoe with textured brown sole and put it on the mat",
+    "Take the rounded-toe gym shoe from the table and place it on the mat",
+    "Pick the the brown sole shoe off the table and position it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the black-striped athletic shoe from the table and set it on the mat",
+    "Pick up the white shoe with black accents with the right arm from the table and place it on the mat",
+    "Take the white shoe with rubber bottom from the table and put it on the mat",
+    "Take the the lace-up shoe off the table and put it on the mat",
+    "Take the shoe with smooth leather upper with the right arm and place it carefully on the mat",
+    "Lift the white shoe with black accents using the right arm from the table and place it on the mat",
+    "Retrieve the footwear with white top from the table and set it on the mat",
+    "Use the right arm to grab the white shoe with black accents and transfer it to the mat",
+    "Using the right arm, grasp the lace-up shoe from the table and place it onto the mat",
+    "Use the right arm to lift the lace-up black and white shoe from the table and set it on the mat",
+    "Pick up the sports shoe with the right arm, move it from the table, and set it on the mat",
+    "Use the right arm to grab the the white shoe with rubber bottom from the table and set it on the mat",
+    "Move the shoe with smooth leather upper from the table to the mat",
+    "Take the the black-striped athletic shoe from the table using the right arm and drop it on the mat",
+    "With the right arm, grab the white shoe with black accents from the table and place it on the mat",
+    "Grab the black-striped athletic shoe using the right arm and drop it on the mat",
+    "Pick the black-striped athletic shoe up from the table and drop it directly on the mat",
+    "Grab the sports shoe from the table with the right arm and place it on the mat",
+    "Lift the the shoe with textured brown sole from the table and place it onto the mat",
+    "Use the right arm to lift the black-striped athletic shoe from the table and set it on the mat",
+    "Lift the shoe with textured brown sole off the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the the brown sole shoe from the table and set it on the mat",
+    "Remove the sports shoe from the table and lay it on the mat",
+    "With the right arm, grab the sports shoe off the table and place it onto the mat",
+    "Take the lace-up black and white shoe and put it on the mat",
+    "Use the right arm to grab the rounded-toe gym shoe from the table and move it to the mat",
+    "Pick the the sports shoe from the table and place it gently on the mat",
+    "Pick up the white shoe and move it to the mat",
+    "With the right arm, pick the brown sole shoe up from the table and put it on the mat",
+    "Lift the black-striped athletic shoe from the table and place it carefully on the mat",
+    "Lift the rounded-toe gym shoe from the table and gently place it onto the mat",
+    "Take the black-striped athletic shoe from the table and position it on the mat",
+    "Use the right arm to pick the lace-up shoe and position it on the mat",
+    "Move the rounded-toe gym shoe from the table to the mat",
+    "Lift the the white shoe with rubber bottom from the table using the right arm and place it on the mat",
+    "Pick the white shoe with rubber bottom up from the table and put it on the mat",
+    "Use the right arm to pick up the rounded-toe gym shoe from the table and drop it on the mat",
+    "Lift the white shoe and place it on the mat",
+    "Take the white shoe with black accents from the table and carefully drop it on the mat",
+    "Move the black-striped athletic shoe from the table to the mat in one fluid motion",
+    "Transfer the white shoe from the table to the mat",
+    "Grab the white shoe with black accents using the right arm, move it from the table to the mat",
+    "Grab the the sports shoe on the table and move it to the mat",
+    "Move the white shoe with rubber bottom from the table and place it down on the mat",
+    "Use the right arm to pick the shoe with smooth leather upper off the table and move it onto the mat",
+    "Using the right arm, lift the lace-up black and white shoe from the table and place it onto the mat",
+    "Use the right arm to grab the the shoe with textured brown sole and put it on the mat",
+    "Take the white shoe from the table and place it on the mat",
+    "Pick the the black-striped athletic shoe off the table and position it on the mat",
+    "Grab the lace-up black and white shoe from the table and place it on the mat",
+    "Pick up the white shoe with black accents from the table and set it on the mat",
+    "Pick up the white shoe with rubber bottom with the right arm from the table and place it on the mat",
+    "Take the white shoe from the table and put it on the mat",
+    "Take the the sports shoe off the table and put it on the mat"
+  ],
+  "unseen": [
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it down on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the right arm to grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the shoe with striped design and set it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Grab the shoe with black stripes from the table and place it on the mat",
+    "Use the right arm to lift the shoe with black stripes and drop it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Grab the shoe with black stripes off the table and drop it on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it down on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the right arm to grab the shoe with striped design from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole and set it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Use the right arm to lift the shoe with black stripes and drop it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole off the table and drop it on the mat",
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it down on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the right arm to grab the shoe with black stripes from the table and place it on the mat",
+    "Grab the shoe with striped design and set it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Grab the shoe with striped design from the table and place it on the mat",
+    "Use the right arm to lift the shoe with striped design and drop it on the mat",
+    "Grab the the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole off the table and drop it on the mat",
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it down on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the right arm to grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the shoe with striped design and set it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Use the right arm to lift the shoe with black stripes and drop it on the mat",
+    "Grab the the shoe with striped design from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole off the table and drop it on the mat",
+    "Pick up the the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it down on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the right arm to grab the shoe with striped design from the table and place it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the shoe with black stripes from the table and place it on the mat",
+    "Use the right arm to lift the shoe with black stripes and drop it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it down on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the right arm to grab the shoe with striped design from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole and set it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Use the right arm to lift the shoe with striped design and drop it on the mat",
+    "Grab the the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it down on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the right arm to grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the shoe with striped design from the table and place it on the mat",
+    "Use the right arm to lift the shoe with black stripes and drop it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Grab the shoe with black stripes off the table and drop it on the mat",
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it down on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the right arm to grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the shoe with striped design and set it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the shoe with striped design from the table and place it on the mat",
+    "Use the right arm to lift the white leather shoe with gum sole and drop it on the mat",
+    "Grab the the shoe with striped design from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole off the table and drop it on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it down on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the right arm to grab the shoe with black stripes from the table and place it on the mat",
+    "Grab the shoe with striped design and set it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Grab the shoe with striped design from the table and place it on the mat",
+    "Use the right arm to lift the shoe with black stripes and drop it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it down on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the right arm to grab the shoe with striped design from the table and place it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the shoe with black stripes from the table and place it on the mat",
+    "Use the right arm to lift the white leather shoe with gum sole and drop it on the mat",
+    "Grab the the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the shoe with black stripes off the table and drop it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode12.json b/place_shoe/demo_clean/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..428ac8d8df21bbfcc655938f5dbddaef0b0d8984
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the the rounded shoe with visible straps from the table using the right arm and drop it on the mat",
+    "Take the the shoe with textured bottom off the table and put it on the mat",
+    "Take the shoe with rounded and open form from the table and put it on the mat",
+    "Remove the shoe with open straps from the table and lay it on the mat",
+    "Lift the small brown footwear replica from the table and gently place it onto the mat",
+    "Grab the brown shoe with strap loops using the right arm, move it from the table to the mat",
+    "Move the medium-sized brown shoe from the table to the mat in one fluid motion",
+    "Lift the the shoe with textured bottom from the table and place it onto the mat",
+    "Pick the the light brown shoe off the table and position it on the mat",
+    "Pick up the light brown shoe with white sole with the right arm from the table and place it on the mat",
+    "Take the rounded shoe with visible straps from the table and position it on the mat",
+    "With the right arm, grab the medium-sized brown shoe from the table and place it on the mat",
+    "Use the right arm to lift the the plastic brown shoe from the table and set it on the mat",
+    "Pick the the rounded shoe with visible straps from the table and place it gently on the mat",
+    "Grab the shoe with open straps using the right arm and drop it on the mat",
+    "With the right arm, pick the shoe with open straps up from the table and put it on the mat",
+    "Lift the medium-sized brown shoe using the right arm from the table and place it on the mat",
+    "Pick up the small brown footwear replica from the table and set it on the mat",
+    "Use the right arm to grab the the shoe with textured bottom and put it on the mat",
+    "Use the right arm to pick up the shoe with colorful stripes from the table and drop it on the mat",
+    "Take the small brown footwear replica with the right arm and place it carefully on the mat",
+    "Grab the shoe with textured bottom from the table and place it on the mat",
+    "Pick up the brown shoe with strap loops and move it to the mat",
+    "Use the right arm to lift the light brown shoe with white sole from the table and set it on the mat",
+    "Grab the the plastic brown shoe on the table and move it to the mat",
+    "Lift the shoe with colorful stripes and place it on the mat",
+    "Lift the shoe with textured bottom from the table and place it carefully on the mat",
+    "Transfer the medium-sized brown shoe from the table to the mat",
+    "Pick the shoe with textured bottom up from the table and drop it directly on the mat",
+    "Take the medium-sized brown shoe and put it on the mat",
+    "Pick the shoe with red green white pattern up from the table and put it on the mat",
+    "Use the right arm to pick the shoe with open straps and position it on the mat",
+    "Pick up the light brown shoe with white sole with the right arm, move it from the table, and set it on the mat",
+    "With the right arm, grab the brown shoe with strap loops off the table and place it onto the mat",
+    "Move the shoe with colorful stripes from the table to the mat",
+    "Use the right arm to grab the light brown shoe and transfer it to the mat",
+    "Take the light brown shoe from the table and place it on the mat",
+    "Using the right arm, grasp the medium-sized brown shoe from the table and place it onto the mat",
+    "Lift the medium-sized brown shoe off the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the rounded shoe with visible straps from the table and move it to the mat",
+    "Take the light brown shoe from the table and carefully drop it on the mat",
+    "Use the right arm to grab the the light brown shoe from the table and set it on the mat",
+    "Move the small brown footwear replica from the table and place it down on the mat",
+    "Lift the the rounded shoe with visible straps from the table using the right arm and place it on the mat",
+    "Using the right arm, lift the light brown shoe with white sole from the table and place it onto the mat",
+    "Use the right arm to pick the shoe with red green white pattern off the table and move it onto the mat",
+    "Retrieve the shoe with textured bottom from the table and set it on the mat",
+    "Move the shoe with textured bottom from the table to the mat",
+    "Grab the shoe with textured bottom from the table with the right arm and place it on the mat",
+    "Use the right arm to lift the medium-sized brown shoe from the table and set it on the mat",
+    "Take the the rounded shoe with visible straps from the table using the right arm and drop it on the mat",
+    "Take the the plastic brown shoe off the table and put it on the mat",
+    "Take the light brown shoe with white sole from the table and put it on the mat",
+    "Remove the light brown shoe from the table and lay it on the mat",
+    "Lift the shoe with textured bottom from the table and gently place it onto the mat",
+    "Grab the light brown shoe using the right arm, move it from the table to the mat",
+    "Move the shoe with red green white pattern from the table to the mat in one fluid motion",
+    "Lift the the shoe with colorful stripes from the table and place it onto the mat",
+    "Pick the the light brown shoe off the table and position it on the mat",
+    "Pick up the light brown shoe with the right arm from the table and place it on the mat",
+    "Take the rounded shoe with visible straps from the table and position it on the mat",
+    "With the right arm, grab the medium-sized brown shoe from the table and place it on the mat",
+    "Use the right arm to lift the the shoe with textured bottom from the table and set it on the mat",
+    "Pick the the light brown shoe with white sole from the table and place it gently on the mat",
+    "Grab the shoe with red green white pattern using the right arm and drop it on the mat",
+    "With the right arm, pick the light brown shoe up from the table and put it on the mat",
+    "Lift the shoe with open straps using the right arm from the table and place it on the mat",
+    "Pick up the brown shoe with strap loops from the table and set it on the mat",
+    "Use the right arm to grab the the medium-sized brown shoe and put it on the mat",
+    "Use the right arm to pick up the shoe with textured bottom from the table and drop it on the mat",
+    "Take the shoe with textured bottom with the right arm and place it carefully on the mat",
+    "Grab the shoe with open straps from the table and place it on the mat",
+    "Pick up the small brown footwear replica and move it to the mat",
+    "Use the right arm to lift the shoe with red green white pattern from the table and set it on the mat",
+    "Grab the the light brown shoe with white sole on the table and move it to the mat",
+    "Lift the shoe with open straps and place it on the mat",
+    "Lift the medium-sized brown shoe from the table and place it carefully on the mat",
+    "Transfer the shoe with open straps from the table to the mat",
+    "Pick the shoe with colorful stripes up from the table and drop it directly on the mat",
+    "Take the plastic brown shoe and put it on the mat",
+    "Pick the shoe with open straps up from the table and put it on the mat",
+    "Use the right arm to pick the shoe with colorful stripes and position it on the mat",
+    "Pick up the shoe with textured bottom with the right arm, move it from the table, and set it on the mat",
+    "With the right arm, grab the medium-sized brown shoe off the table and place it onto the mat",
+    "Move the shoe with red green white pattern from the table to the mat",
+    "Use the right arm to grab the shoe with open straps and transfer it to the mat",
+    "Take the small brown footwear replica from the table and place it on the mat",
+    "Using the right arm, grasp the shoe with rounded and open form from the table and place it onto the mat",
+    "Lift the shoe with open straps off the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the brown shoe with strap loops from the table and move it to the mat",
+    "Take the shoe with textured bottom from the table and carefully drop it on the mat",
+    "Use the right arm to grab the the shoe with textured bottom from the table and set it on the mat",
+    "Move the shoe with rounded and open form from the table and place it down on the mat",
+    "Lift the the brown shoe with strap loops from the table using the right arm and place it on the mat",
+    "Using the right arm, lift the shoe with rounded and open form from the table and place it onto the mat",
+    "Use the right arm to pick the shoe with rounded and open form off the table and move it onto the mat",
+    "Retrieve the light brown shoe from the table and set it on the mat",
+    "Move the shoe with red green white pattern from the table to the mat",
+    "Grab the shoe with red green white pattern from the table with the right arm and place it on the mat",
+    "Use the right arm to lift the small brown footwear replica from the table and set it on the mat"
+  ],
+  "unseen": [
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the right arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Use the right arm to lift the smooth plastic shoe and drop it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the right arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Use the right arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the right arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Use the right arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the right arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Use the right arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the right arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Use the right arm to lift the smooth plastic shoe and drop it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the right arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Use the right arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the right arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Use the right arm to lift the smooth plastic shoe and drop it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the right arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Use the right arm to lift the smooth plastic shoe and drop it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the right arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Use the right arm to lift the smooth plastic shoe and drop it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the right arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Use the right arm to lift the smooth plastic shoe and drop it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode13.json b/place_shoe/demo_clean/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ef09b76cb6ec7c4f4a5725961abdea475e0dd18
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth-textured red shoe using the right arm from the table and place it on the mat",
+    "Grab the the shoe with flat rubber sole on the table and move it to the mat",
+    "Use the right arm to lift the the red shoe with white sole from the table and set it on the mat",
+    "Use the right arm to grab the lace-up red sports shoe and transfer it to the mat",
+    "Lift the the red shoe with white sole from the table using the right arm and place it on the mat",
+    "Pick the shoe with flat rubber sole up from the table and put it on the mat",
+    "With the right arm, grab the smooth-textured red shoe from the table and place it on the mat",
+    "Pick up the red shoe rounded at front with the right arm, move it from the table, and set it on the mat",
+    "Take the the red shoe with white sole off the table and put it on the mat",
+    "Take the single red shoe from the table and put it on the mat",
+    "Pick the the red shoe rounded at front off the table and position it on the mat",
+    "With the right arm, grab the white bottom sports shoe off the table and place it onto the mat",
+    "Use the right arm to grab the shoe with flat rubber sole from the table and move it to the mat",
+    "Pick up the red sneaker and move it to the mat",
+    "Take the single red shoe with the right arm and place it carefully on the mat",
+    "Take the smooth-textured red shoe from the table and position it on the mat",
+    "Transfer the red sneaker from the table to the mat",
+    "Lift the shoe with flat rubber sole from the table and gently place it onto the mat",
+    "Pick up the sports shoe with the right arm from the table and place it on the mat",
+    "Lift the the red shoe with white sole from the table and place it onto the mat",
+    "Use the right arm to pick up the single red shoe from the table and drop it on the mat",
+    "Use the right arm to grab the the single red shoe from the table and set it on the mat",
+    "With the right arm, pick the smooth-textured red shoe up from the table and put it on the mat",
+    "Grab the red shoe rounded at front from the table with the right arm and place it on the mat",
+    "Take the the red shoe rounded at front from the table using the right arm and drop it on the mat",
+    "Pick up the white bottom sports shoe from the table and set it on the mat",
+    "Use the right arm to lift the red shoe with white sole from the table and set it on the mat",
+    "Pick the the sports shoe from the table and place it gently on the mat",
+    "Grab the smooth-textured red shoe using the right arm, move it from the table to the mat",
+    "Use the right arm to grab the the red sneaker and put it on the mat",
+    "Use the right arm to lift the red shoe rounded at front from the table and set it on the mat",
+    "Lift the lace-up red sports shoe off the table using the right arm and drop it on the mat",
+    "Move the white bottom sports shoe from the table to the mat",
+    "Take the white bottom sports shoe from the table and place it on the mat",
+    "Use the right arm to pick the red sneaker and position it on the mat",
+    "Lift the medium red shoe and place it on the mat",
+    "Using the right arm, grasp the white bottom sports shoe from the table and place it onto the mat",
+    "Grab the red shoe with white sole from the table and place it on the mat",
+    "Take the smooth-textured red shoe and put it on the mat",
+    "Move the grooved sole red shoe from the table and place it down on the mat",
+    "Remove the white bottom sports shoe from the table and lay it on the mat",
+    "Grab the red shoe rounded at front using the right arm and drop it on the mat",
+    "Use the right arm to pick the smooth-textured red shoe off the table and move it onto the mat",
+    "Using the right arm, lift the shoe with flat rubber sole from the table and place it onto the mat",
+    "Take the shoe with flat rubber sole from the table and carefully drop it on the mat",
+    "Lift the lace-up red sports shoe from the table and place it carefully on the mat",
+    "Move the medium red shoe from the table to the mat in one fluid motion",
+    "Retrieve the smooth-textured red shoe from the table and set it on the mat",
+    "Move the single red shoe from the table to the mat",
+    "Pick the sports shoe up from the table and drop it directly on the mat",
+    "Lift the red shoe rounded at front using the right arm from the table and place it on the mat",
+    "Grab the the red shoe rounded at front on the table and move it to the mat",
+    "Use the right arm to lift the the lace-up red sports shoe from the table and set it on the mat",
+    "Use the right arm to grab the grooved sole red shoe and transfer it to the mat",
+    "Lift the the red sneaker from the table using the right arm and place it on the mat",
+    "Pick the smooth-textured red shoe up from the table and put it on the mat",
+    "With the right arm, grab the medium red shoe from the table and place it on the mat",
+    "Pick up the red sneaker with the right arm, move it from the table, and set it on the mat",
+    "Take the the red shoe rounded at front off the table and put it on the mat",
+    "Take the white bottom sports shoe from the table and put it on the mat",
+    "Pick the the single red shoe off the table and position it on the mat",
+    "With the right arm, grab the single red shoe off the table and place it onto the mat",
+    "Use the right arm to grab the smooth-textured red shoe from the table and move it to the mat",
+    "Pick up the red shoe rounded at front and move it to the mat",
+    "Take the shoe with flat rubber sole with the right arm and place it carefully on the mat",
+    "Take the red shoe rounded at front from the table and position it on the mat",
+    "Transfer the smooth-textured red shoe from the table to the mat",
+    "Lift the lace-up red sports shoe from the table and gently place it onto the mat",
+    "Pick up the grooved sole red shoe with the right arm from the table and place it on the mat",
+    "Lift the the lace-up red sports shoe from the table and place it onto the mat",
+    "Use the right arm to pick up the red shoe with white sole from the table and drop it on the mat",
+    "Use the right arm to grab the the grooved sole red shoe from the table and set it on the mat",
+    "With the right arm, pick the lace-up red sports shoe up from the table and put it on the mat",
+    "Grab the single red shoe from the table with the right arm and place it on the mat",
+    "Take the the medium red shoe from the table using the right arm and drop it on the mat",
+    "Pick up the footwear with red top white sole from the table and set it on the mat",
+    "Use the right arm to lift the smooth-textured red shoe from the table and set it on the mat",
+    "Pick the the grooved sole red shoe from the table and place it gently on the mat",
+    "Grab the footwear with red top white sole using the right arm, move it from the table to the mat",
+    "Use the right arm to grab the the white bottom sports shoe and put it on the mat",
+    "Use the right arm to lift the grooved sole red shoe from the table and set it on the mat",
+    "Lift the red sneaker off the table using the right arm and drop it on the mat",
+    "Move the lace-up red sports shoe from the table to the mat",
+    "Take the single red shoe from the table and place it on the mat",
+    "Use the right arm to pick the smooth-textured red shoe and position it on the mat",
+    "Lift the sports shoe and place it on the mat",
+    "Using the right arm, grasp the red sneaker from the table and place it onto the mat",
+    "Grab the white bottom sports shoe from the table and place it on the mat",
+    "Take the lace-up red sports shoe and put it on the mat",
+    "Move the smooth-textured red shoe from the table and place it down on the mat",
+    "Remove the red shoe with white sole from the table and lay it on the mat",
+    "Grab the single red shoe using the right arm and drop it on the mat",
+    "Use the right arm to pick the red sneaker off the table and move it onto the mat",
+    "Using the right arm, lift the footwear with red top white sole from the table and place it onto the mat",
+    "Take the medium red shoe from the table and carefully drop it on the mat",
+    "Lift the smooth-textured red shoe from the table and place it carefully on the mat",
+    "Move the smooth-textured red shoe from the table to the mat in one fluid motion",
+    "Retrieve the red shoe with white sole from the table and set it on the mat",
+    "Move the sports shoe from the table to the mat",
+    "Pick the red shoe with white sole up from the table and drop it directly on the mat"
+  ],
+  "unseen": [
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Use the right arm to lift the red sneaker medium sized and drop it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Use the right arm to grab the red shoe from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the the red sneaker medium sized from the table and place it on the mat",
+    "Grab the red shoe and set it on the mat",
+    "Use the right arm to lift the synthetic shoe upper and drop it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Use the right arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Use the right arm to lift the synthetic shoe upper and drop it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Use the right arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Use the right arm to lift the red shoe and drop it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Use the right arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Grab the red shoe and set it on the mat",
+    "Use the right arm to lift the synthetic shoe upper and drop it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Use the right arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Grab the red shoe and set it on the mat",
+    "Use the right arm to lift the synthetic shoe upper and drop it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Use the right arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Use the right arm to lift the red shoe and drop it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Use the right arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Use the right arm to lift the red shoe and drop it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Use the right arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the the red sneaker medium sized from the table and place it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Use the right arm to lift the red sneaker medium sized and drop it on the mat",
+    "Grab the the synthetic shoe upper from the table and set it on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Use the right arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Use the right arm to lift the synthetic shoe upper and drop it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Use the right arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode14.json b/place_shoe/demo_clean/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f0bf9b310cc70f4c3091a75e9481dc04add6d85
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the the canvas shoe with grooved sole on the table and move it to the mat",
+    "Lift the lace-up sneaker from the table and place it carefully on the mat",
+    "Use the left arm to grab the the canvas shoe with grooved sole from the table and set it on the mat",
+    "Move the comfortable white and red shoe from the table to the mat in one fluid motion",
+    "Pick up the medium-sized adult shoe with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to grab the white shoe with flat sole and transfer it to the mat",
+    "Take the the white sneaker with red accents from the table using the left arm and drop it on the mat",
+    "With the left arm, grab the white shoe with red tag off the table and place it onto the mat",
+    "Use the left arm to grab the the medium-sized adult shoe and put it on the mat",
+    "Take the lace-up canvas shoe from the table and position it on the mat",
+    "Move the medium-sized adult shoe from the table to the mat",
+    "Take the comfortable white and red shoe from the table and put it on the mat",
+    "Move the shoe with flat rubber sole from the table to the mat",
+    "Take the the lace-up canvas shoe off the table and put it on the mat",
+    "Grab the classic sneaker design shoe from the table and place it on the mat",
+    "Use the left arm to lift the rounded front shoe from the table and set it on the mat",
+    "Remove the classic sneaker design shoe from the table and lay it on the mat",
+    "Pick the classic sneaker design shoe up from the table and drop it directly on the mat",
+    "Transfer the rubber sole shoe from the table to the mat",
+    "Use the left arm to pick up the lace-up sneaker from the table and drop it on the mat",
+    "Move the canvas shoe with grooved sole from the table and place it down on the mat",
+    "Pick the white shoe with flat sole up from the table and put it on the mat",
+    "Take the rounded front shoe from the table and place it on the mat",
+    "Use the left arm to grab the canvas shoe with grooved sole from the table and move it to the mat",
+    "Pick the the medium-sized adult shoe off the table and position it on the mat",
+    "Lift the white shoe with red tag using the left arm from the table and place it on the mat",
+    "Retrieve the classic sneaker design shoe from the table and set it on the mat",
+    "Lift the the canvas shoe with grooved sole from the table using the left arm and place it on the mat",
+    "Grab the rounded front shoe using the left arm, move it from the table to the mat",
+    "Lift the the comfortable white and red shoe from the table and place it onto the mat",
+    "Use the left arm to pick the rubber sole shoe and position it on the mat",
+    "Lift the white shoe with flat sole from the table and gently place it onto the mat",
+    "Grab the canvas shoe with grooved sole from the table with the left arm and place it on the mat",
+    "Take the lace-up sneaker and put it on the mat",
+    "Take the medium-sized adult shoe from the table and carefully drop it on the mat",
+    "With the left arm, grab the white sneaker with red accents from the table and place it on the mat",
+    "Lift the canvas shoe with grooved sole and place it on the mat",
+    "Pick the the white sneaker with red accents from the table and place it gently on the mat",
+    "Lift the classic sneaker design shoe off the table using the left arm and drop it on the mat",
+    "Take the lace-up sneaker with the left arm and place it carefully on the mat",
+    "Pick up the white shoe with red tag and move it to the mat",
+    "Pick up the shoe with flat rubber sole with the left arm from the table and place it on the mat",
+    "Using the left arm, lift the classic sneaker design shoe from the table and place it onto the mat",
+    "Use the left arm to lift the lace-up canvas shoe from the table and set it on the mat",
+    "Use the left arm to pick the medium-sized adult shoe off the table and move it onto the mat",
+    "Pick up the medium-sized adult shoe from the table and set it on the mat",
+    "Use the left arm to lift the the lace-up canvas shoe from the table and set it on the mat",
+    "With the left arm, pick the canvas shoe with grooved sole up from the table and put it on the mat",
+    "Using the left arm, grasp the canvas shoe with grooved sole from the table and place it onto the mat",
+    "Grab the white shoe with flat sole using the left arm and drop it on the mat",
+    "Grab the the white shoe with flat sole on the table and move it to the mat",
+    "Lift the comfortable white and red shoe from the table and place it carefully on the mat",
+    "Use the left arm to grab the the white sneaker with red accents from the table and set it on the mat",
+    "Move the medium-sized adult shoe from the table to the mat in one fluid motion",
+    "Pick up the white shoe with flat sole with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to grab the white shoe with flat sole and transfer it to the mat",
+    "Take the the rubber sole shoe from the table using the left arm and drop it on the mat",
+    "With the left arm, grab the comfortable white and red shoe off the table and place it onto the mat",
+    "Use the left arm to grab the the rubber sole shoe and put it on the mat",
+    "Take the white shoe with red tag from the table and position it on the mat",
+    "Move the white shoe with red tag from the table to the mat",
+    "Take the comfortable white and red shoe from the table and put it on the mat",
+    "Move the shoe with flat rubber sole from the table to the mat",
+    "Take the the canvas shoe with grooved sole off the table and put it on the mat",
+    "Grab the rubber sole shoe from the table and place it on the mat",
+    "Use the left arm to lift the white shoe with red tag from the table and set it on the mat",
+    "Remove the classic sneaker design shoe from the table and lay it on the mat",
+    "Pick the shoe with flat rubber sole up from the table and drop it directly on the mat",
+    "Transfer the canvas shoe with grooved sole from the table to the mat",
+    "Use the left arm to pick up the rubber sole shoe from the table and drop it on the mat",
+    "Move the comfortable white and red shoe from the table and place it down on the mat",
+    "Pick the rounded front shoe up from the table and put it on the mat",
+    "Take the comfortable white and red shoe from the table and place it on the mat",
+    "Use the left arm to grab the rounded front shoe from the table and move it to the mat",
+    "Pick the the canvas shoe with grooved sole off the table and position it on the mat",
+    "Lift the rounded front shoe using the left arm from the table and place it on the mat",
+    "Retrieve the rounded front shoe from the table and set it on the mat",
+    "Lift the the white shoe with red tag from the table using the left arm and place it on the mat",
+    "Grab the canvas shoe with grooved sole using the left arm, move it from the table to the mat",
+    "Lift the the rubber sole shoe from the table and place it onto the mat",
+    "Use the left arm to pick the rounded front shoe and position it on the mat",
+    "Lift the medium-sized adult shoe from the table and gently place it onto the mat",
+    "Grab the white shoe with red tag from the table with the left arm and place it on the mat",
+    "Take the white shoe with red tag and put it on the mat",
+    "Take the classic sneaker design shoe from the table and carefully drop it on the mat",
+    "With the left arm, grab the lace-up sneaker from the table and place it on the mat",
+    "Lift the classic sneaker design shoe and place it on the mat",
+    "Pick the the comfortable white and red shoe from the table and place it gently on the mat",
+    "Lift the classic sneaker design shoe off the table using the left arm and drop it on the mat",
+    "Take the classic sneaker design shoe with the left arm and place it carefully on the mat",
+    "Pick up the white sneaker with red accents and move it to the mat",
+    "Pick up the lace-up canvas shoe with the left arm from the table and place it on the mat",
+    "Using the left arm, lift the lace-up sneaker from the table and place it onto the mat",
+    "Use the left arm to lift the rubber sole shoe from the table and set it on the mat",
+    "Use the left arm to pick the classic sneaker design shoe off the table and move it onto the mat",
+    "Pick up the comfortable white and red shoe from the table and set it on the mat",
+    "Use the left arm to lift the the rubber sole shoe from the table and set it on the mat",
+    "With the left arm, pick the white sneaker with red accents up from the table and put it on the mat",
+    "Using the left arm, grasp the white sneaker with red accents from the table and place it onto the mat",
+    "Grab the shoe with flat rubber sole using the left arm and drop it on the mat"
+  ],
+  "unseen": [
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Use the left arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Use the left arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Use the left arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Use the left arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Use the left arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Use the left arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Use the left arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Use the left arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Use the left arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Use the left arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Use the left arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the left arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Use the left arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Use the left arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Use the left arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Use the left arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Use the left arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Use the left arm to grab the shoe with adjustable laces from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode15.json b/place_shoe/demo_clean/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe94f7d997380c7edf8c39dbc07407897e9eee75
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the white shoe with rubber bottom with the right arm and place it carefully on the mat",
+    "Take the lace-up black and white shoe from the table and put it on the mat",
+    "Retrieve the shoe with smooth leather upper from the table and set it on the mat",
+    "Lift the brown sole shoe using the right arm from the table and place it on the mat",
+    "Use the right arm to pick the white shoe with black accents off the table and move it onto the mat",
+    "Use the right arm to pick up the shoe with smooth leather upper from the table and drop it on the mat",
+    "Using the right arm, lift the lace-up shoe from the table and place it onto the mat",
+    "Move the rounded-toe gym shoe from the table to the mat",
+    "Pick the black-striped athletic shoe up from the table and drop it directly on the mat",
+    "Lift the the black-striped athletic shoe from the table and place it onto the mat",
+    "Take the white shoe with rubber bottom and put it on the mat",
+    "Grab the shoe with smooth leather upper using the right arm, move it from the table to the mat",
+    "Pick the lace-up black and white shoe up from the table and put it on the mat",
+    "Lift the white shoe and place it on the mat",
+    "Use the right arm to lift the shoe with smooth leather upper from the table and set it on the mat",
+    "Take the lace-up shoe from the table and position it on the mat",
+    "Take the rounded-toe gym shoe from the table and place it on the mat",
+    "Take the the black-striped athletic shoe off the table and put it on the mat",
+    "Grab the shoe with smooth leather upper using the right arm and drop it on the mat",
+    "Grab the lace-up shoe from the table with the right arm and place it on the mat",
+    "Transfer the black-striped athletic shoe from the table to the mat",
+    "Pick up the lace-up black and white shoe and move it to the mat",
+    "Pick the the black-striped athletic shoe off the table and position it on the mat",
+    "Lift the white shoe from the table and place it carefully on the mat",
+    "Move the brown sole shoe from the table to the mat in one fluid motion",
+    "Grab the black-striped athletic shoe from the table and place it on the mat",
+    "Lift the shoe with smooth leather upper off the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the lace-up black and white shoe from the table and move it to the mat",
+    "Use the right arm to grab the the footwear with white top and put it on the mat",
+    "Move the white shoe with rubber bottom from the table and place it down on the mat",
+    "Take the the white shoe with rubber bottom from the table using the right arm and drop it on the mat",
+    "Lift the lace-up shoe from the table and gently place it onto the mat",
+    "Remove the lace-up shoe from the table and lay it on the mat",
+    "Grab the the white shoe on the table and move it to the mat",
+    "Pick up the shoe with textured brown sole from the table and set it on the mat",
+    "Take the brown sole shoe from the table and carefully drop it on the mat",
+    "Lift the the footwear with white top from the table using the right arm and place it on the mat",
+    "Pick the the white shoe with rubber bottom from the table and place it gently on the mat",
+    "Use the right arm to lift the the rounded-toe gym shoe from the table and set it on the mat",
+    "Pick up the lace-up black and white shoe with the right arm from the table and place it on the mat",
+    "Use the right arm to pick the white shoe and position it on the mat",
+    "With the right arm, grab the brown sole shoe off the table and place it onto the mat",
+    "With the right arm, pick the black-striped athletic shoe up from the table and put it on the mat",
+    "Move the sports shoe from the table to the mat",
+    "Use the right arm to grab the shoe with textured brown sole and transfer it to the mat",
+    "Use the right arm to lift the white shoe with black accents from the table and set it on the mat",
+    "Using the right arm, grasp the brown sole shoe from the table and place it onto the mat",
+    "Use the right arm to grab the the shoe with smooth leather upper from the table and set it on the mat",
+    "Pick up the shoe with smooth leather upper with the right arm, move it from the table, and set it on the mat",
+    "With the right arm, grab the lace-up black and white shoe from the table and place it on the mat",
+    "Take the lace-up black and white shoe with the right arm and place it carefully on the mat",
+    "Take the footwear with white top from the table and put it on the mat",
+    "Retrieve the white shoe with rubber bottom from the table and set it on the mat",
+    "Lift the brown sole shoe using the right arm from the table and place it on the mat",
+    "Use the right arm to pick the brown sole shoe off the table and move it onto the mat",
+    "Use the right arm to pick up the rounded-toe gym shoe from the table and drop it on the mat",
+    "Using the right arm, lift the brown sole shoe from the table and place it onto the mat",
+    "Move the brown sole shoe from the table to the mat",
+    "Pick the white shoe with rubber bottom up from the table and drop it directly on the mat",
+    "Lift the the lace-up black and white shoe from the table and place it onto the mat",
+    "Take the lace-up black and white shoe and put it on the mat",
+    "Grab the sports shoe using the right arm, move it from the table to the mat",
+    "Pick the footwear with white top up from the table and put it on the mat",
+    "Lift the white shoe with rubber bottom and place it on the mat",
+    "Use the right arm to lift the white shoe from the table and set it on the mat",
+    "Take the lace-up black and white shoe from the table and position it on the mat",
+    "Take the white shoe from the table and place it on the mat",
+    "Take the the lace-up shoe off the table and put it on the mat",
+    "Grab the footwear with white top using the right arm and drop it on the mat",
+    "Grab the white shoe with rubber bottom from the table with the right arm and place it on the mat",
+    "Transfer the lace-up black and white shoe from the table to the mat",
+    "Pick up the footwear with white top and move it to the mat",
+    "Pick the the sports shoe off the table and position it on the mat",
+    "Lift the shoe with smooth leather upper from the table and place it carefully on the mat",
+    "Move the shoe with textured brown sole from the table to the mat in one fluid motion",
+    "Grab the white shoe from the table and place it on the mat",
+    "Lift the black-striped athletic shoe off the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the black-striped athletic shoe from the table and move it to the mat",
+    "Use the right arm to grab the the rounded-toe gym shoe and put it on the mat",
+    "Move the white shoe with rubber bottom from the table and place it down on the mat",
+    "Take the the lace-up shoe from the table using the right arm and drop it on the mat",
+    "Lift the white shoe with black accents from the table and gently place it onto the mat",
+    "Remove the lace-up black and white shoe from the table and lay it on the mat",
+    "Grab the the footwear with white top on the table and move it to the mat",
+    "Pick up the brown sole shoe from the table and set it on the mat",
+    "Take the white shoe from the table and carefully drop it on the mat",
+    "Lift the the black-striped athletic shoe from the table using the right arm and place it on the mat",
+    "Pick the the white shoe from the table and place it gently on the mat",
+    "Use the right arm to lift the the white shoe from the table and set it on the mat",
+    "Pick up the sports shoe with the right arm from the table and place it on the mat",
+    "Use the right arm to pick the rounded-toe gym shoe and position it on the mat",
+    "With the right arm, grab the brown sole shoe off the table and place it onto the mat",
+    "With the right arm, pick the white shoe with black accents up from the table and put it on the mat",
+    "Move the lace-up black and white shoe from the table to the mat",
+    "Use the right arm to grab the white shoe and transfer it to the mat",
+    "Use the right arm to lift the black-striped athletic shoe from the table and set it on the mat",
+    "Using the right arm, grasp the lace-up black and white shoe from the table and place it onto the mat",
+    "Use the right arm to grab the the lace-up black and white shoe from the table and set it on the mat",
+    "Pick up the footwear with white top with the right arm, move it from the table, and set it on the mat",
+    "With the right arm, grab the sports shoe from the table and place it on the mat"
+  ],
+  "unseen": [
+    "Use the right arm to lift the shoe with black stripes and drop it on the mat",
+    "Pick up the shoe with black stripes from the table and set it down on the mat",
+    "Grab the shoe with striped design from the table and place it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the right arm to grab the shoe with black stripes from the table and place it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Grab the the white leather shoe with gum sole from the table and set it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the right arm to lift the shoe with striped design and drop it on the mat",
+    "Pick up the shoe with black stripes from the table and set it down on the mat",
+    "Grab the shoe with black stripes from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole off the table and drop it on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the right arm to grab the shoe with striped design from the table and place it on the mat",
+    "Grab the shoe with striped design and set it on the mat",
+    "Grab the the shoe with striped design from the table and set it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the right arm to lift the shoe with striped design and drop it on the mat",
+    "Pick up the shoe with black stripes from the table and set it down on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Use the right arm to grab the shoe with striped design from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole and set it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Use the right arm to lift the shoe with black stripes and drop it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it down on the mat",
+    "Grab the shoe with striped design from the table and place it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the right arm to grab the shoe with striped design from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole and set it on the mat",
+    "Grab the the shoe with striped design from the table and set it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Use the right arm to lift the shoe with striped design and drop it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it down on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Pick up the the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the right arm to grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the shoe with striped design and set it on the mat",
+    "Grab the the white leather shoe with gum sole from the table and set it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the right arm to lift the shoe with striped design and drop it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it down on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the shoe with black stripes off the table and drop it on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the right arm to grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the right arm to lift the shoe with striped design and drop it on the mat",
+    "Pick up the shoe with striped design from the table and set it down on the mat",
+    "Grab the shoe with black stripes from the table and place it on the mat",
+    "Grab the shoe with black stripes off the table and drop it on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Use the right arm to grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Grab the the white leather shoe with gum sole from the table and set it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the right arm to lift the white leather shoe with gum sole and drop it on the mat",
+    "Pick up the shoe with striped design from the table and set it down on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole off the table and drop it on the mat",
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the right arm to grab the shoe with striped design from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole and set it on the mat",
+    "Grab the the white leather shoe with gum sole from the table and set it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Use the right arm to lift the shoe with striped design and drop it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it down on the mat",
+    "Grab the shoe with striped design from the table and place it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the right arm to grab the shoe with black stripes from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole and set it on the mat",
+    "Grab the the shoe with striped design from the table and set it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the right arm to lift the shoe with striped design and drop it on the mat",
+    "Pick up the shoe with black stripes from the table and set it down on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole off the table and drop it on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Use the right arm to grab the shoe with black stripes from the table and place it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Grab the the white leather shoe with gum sole from the table and set it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode16.json b/place_shoe/demo_clean/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b234b7ae478dc30b557a428a0604e549f46a019
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the rounded front shoe using the left arm and drop it on the mat",
+    "Remove the shoe for everyday wear from the table and lay it on the mat",
+    "With the left arm, grab the brown shoe off the table and place it onto the mat",
+    "Pick the medium-sized walking shoe up from the table and put it on the mat",
+    "Take the dark shoe with grooves on sole from the table and put it on the mat",
+    "Use the left arm to grab the the rounded front shoe and put it on the mat",
+    "Take the medium-sized walking shoe from the table and carefully drop it on the mat",
+    "Retrieve the rounded front shoe from the table and set it on the mat",
+    "Transfer the dark brown leather shoe from the table to the mat",
+    "Move the shoe for walking with rubber grip from the table to the mat in one fluid motion",
+    "Use the left arm to pick up the dark shoe with grooves on sole from the table and drop it on the mat",
+    "Lift the rounded front shoe using the left arm from the table and place it on the mat",
+    "Pick up the shoe for walking with rubber grip and move it to the mat",
+    "Move the brown shoe from the table to the mat",
+    "Lift the shoe for walking with rubber grip from the table and place it carefully on the mat",
+    "Take the the brown shoe from the table using the left arm and drop it on the mat",
+    "Lift the the shoe for walking with rubber grip from the table using the left arm and place it on the mat",
+    "Use the left arm to grab the dark brown leather shoe from the table and move it to the mat",
+    "Pick the medium-sized walking shoe up from the table and drop it directly on the mat",
+    "Move the shoe for walking with rubber grip from the table to the mat",
+    "Lift the medium-sized walking shoe off the table using the left arm and drop it on the mat",
+    "Grab the dark brown leather shoe from the table and place it on the mat",
+    "With the left arm, pick the shoe with lace holes up from the table and put it on the mat",
+    "Use the left arm to lift the the shoe with grooved bottom from the table and set it on the mat",
+    "Pick the the shoe with grooved bottom off the table and position it on the mat",
+    "Take the medium-sized walking shoe with the left arm and place it carefully on the mat",
+    "Lift the the dark brown leather shoe from the table and place it onto the mat",
+    "Take the dark brown leather shoe from the table and place it on the mat",
+    "Use the left arm to lift the brown shoe from the table and set it on the mat",
+    "Use the left arm to pick the dark brown leather shoe off the table and move it onto the mat",
+    "Use the left arm to grab the dark brown leather shoe and transfer it to the mat",
+    "With the left arm, grab the shoe with lace holes from the table and place it on the mat",
+    "Take the the shoe for walking with rubber grip off the table and put it on the mat",
+    "Pick the the rounded front shoe from the table and place it gently on the mat",
+    "Grab the shoe with thick rubber sole using the left arm, move it from the table to the mat",
+    "Pick up the dark shoe with grooves on sole with the left arm from the table and place it on the mat",
+    "Using the left arm, lift the medium-sized walking shoe from the table and place it onto the mat",
+    "Pick up the shoe for walking with rubber grip from the table and set it on the mat",
+    "Take the rounded tip leather shoe and put it on the mat",
+    "Lift the rounded front shoe and place it on the mat",
+    "Use the left arm to grab the the shoe for walking with rubber grip from the table and set it on the mat",
+    "Grab the dark brown leather shoe from the table with the left arm and place it on the mat",
+    "Use the left arm to lift the shoe with grooved bottom from the table and set it on the mat",
+    "Pick up the rounded front shoe with the left arm, move it from the table, and set it on the mat",
+    "Grab the the medium-sized walking shoe on the table and move it to the mat",
+    "Using the left arm, grasp the shoe for walking with rubber grip from the table and place it onto the mat",
+    "Move the dark shoe with grooves on sole from the table and place it down on the mat",
+    "Take the rounded tip leather shoe from the table and position it on the mat",
+    "Use the left arm to pick the shoe for walking with rubber grip and position it on the mat",
+    "Lift the shoe with lace holes from the table and gently place it onto the mat",
+    "Grab the dark brown leather shoe using the left arm and drop it on the mat",
+    "Remove the brown shoe from the table and lay it on the mat",
+    "With the left arm, grab the brown shoe off the table and place it onto the mat",
+    "Pick the rounded tip leather shoe up from the table and put it on the mat",
+    "Take the shoe with thick rubber sole from the table and put it on the mat",
+    "Use the left arm to grab the the shoe with lace holes and put it on the mat",
+    "Take the rounded tip leather shoe from the table and carefully drop it on the mat",
+    "Retrieve the shoe with grooved bottom from the table and set it on the mat",
+    "Transfer the shoe for walking with rubber grip from the table to the mat",
+    "Move the rounded front shoe from the table to the mat in one fluid motion",
+    "Use the left arm to pick up the rounded front shoe from the table and drop it on the mat",
+    "Lift the rounded tip leather shoe using the left arm from the table and place it on the mat",
+    "Pick up the shoe for walking with rubber grip and move it to the mat",
+    "Move the dark shoe with grooves on sole from the table to the mat",
+    "Lift the shoe with grooved bottom from the table and place it carefully on the mat",
+    "Take the the dark shoe with grooves on sole from the table using the left arm and drop it on the mat",
+    "Lift the the shoe with thick rubber sole from the table using the left arm and place it on the mat",
+    "Use the left arm to grab the shoe with thick rubber sole from the table and move it to the mat",
+    "Pick the shoe with thick rubber sole up from the table and drop it directly on the mat",
+    "Move the medium-sized walking shoe from the table to the mat",
+    "Lift the shoe with grooved bottom off the table using the left arm and drop it on the mat",
+    "Grab the shoe for walking with rubber grip from the table and place it on the mat",
+    "With the left arm, pick the smooth leather shoe up from the table and put it on the mat",
+    "Use the left arm to lift the the brown shoe from the table and set it on the mat",
+    "Pick the the shoe for everyday wear off the table and position it on the mat",
+    "Take the dark shoe with grooves on sole with the left arm and place it carefully on the mat",
+    "Lift the the dark brown leather shoe from the table and place it onto the mat",
+    "Take the dark brown leather shoe from the table and place it on the mat",
+    "Use the left arm to lift the shoe for walking with rubber grip from the table and set it on the mat",
+    "Use the left arm to pick the rounded tip leather shoe off the table and move it onto the mat",
+    "Use the left arm to grab the rounded tip leather shoe and transfer it to the mat",
+    "With the left arm, grab the shoe with thick rubber sole from the table and place it on the mat",
+    "Take the the dark brown leather shoe off the table and put it on the mat",
+    "Pick the the shoe for everyday wear from the table and place it gently on the mat",
+    "Grab the shoe for walking with rubber grip using the left arm, move it from the table to the mat",
+    "Pick up the dark shoe with grooves on sole with the left arm from the table and place it on the mat",
+    "Using the left arm, lift the dark brown leather shoe from the table and place it onto the mat",
+    "Pick up the rounded tip leather shoe from the table and set it on the mat",
+    "Take the shoe for walking with rubber grip and put it on the mat",
+    "Lift the shoe with grooved bottom and place it on the mat",
+    "Use the left arm to grab the the dark shoe with grooves on sole from the table and set it on the mat",
+    "Grab the dark shoe with grooves on sole from the table with the left arm and place it on the mat",
+    "Use the left arm to lift the dark shoe with grooves on sole from the table and set it on the mat",
+    "Pick up the shoe with lace holes with the left arm, move it from the table, and set it on the mat",
+    "Grab the the smooth leather shoe on the table and move it to the mat",
+    "Using the left arm, grasp the rounded tip leather shoe from the table and place it onto the mat",
+    "Move the medium-sized walking shoe from the table and place it down on the mat",
+    "Take the shoe with lace holes from the table and position it on the mat",
+    "Use the left arm to pick the dark brown leather shoe and position it on the mat",
+    "Lift the smooth leather shoe from the table and gently place it onto the mat"
+  ],
+  "unseen": [
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Use the left arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the left arm to grab the casual brown shoe from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Use the left arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Use the left arm to grab the casual brown shoe from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the left arm to lift the casual brown shoe and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Use the left arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the left arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the left arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Use the left arm to lift the casual brown shoe and drop it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the left arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the left arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the left arm to grab the casual brown shoe from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the left arm to lift the casual brown shoe and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Use the left arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the left arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the left arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Use the left arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Use the left arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Use the left arm to lift the casual brown shoe and drop it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the left arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode17.json b/place_shoe/demo_clean/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..977bb4c5f962de8574c1df17d297e57483f30026
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the rubber-soled shoe with lace-up top from the table and set it on the mat",
+    "With the left arm, grab the comfortable shoe for walking off the table and place it onto the mat",
+    "Grab the black and white shoe from the table with the left arm and place it on the mat",
+    "Grab the dual-tone shoe with sleek design from the table and place it on the mat",
+    "Lift the the average adult-sized shoe from the table using the left arm and place it on the mat",
+    "Grab the black shoe with white accents using the left arm, move it from the table to the mat",
+    "Use the left arm to lift the shoe with curved sole from the table and set it on the mat",
+    "Retrieve the rubber-soled shoe with lace-up top from the table and set it on the mat",
+    "Pick up the black shoe with white accents from the table and set it on the mat",
+    "Using the left arm, lift the shoe with curved sole from the table and place it onto the mat",
+    "Grab the dual-tone shoe with sleek design using the left arm and drop it on the mat",
+    "Pick up the dual-tone shoe with sleek design and move it to the mat",
+    "Take the the medium-sized black and white shoe off the table and put it on the mat",
+    "Pick the the wearable foot protector shoe off the table and position it on the mat",
+    "Move the comfortable shoe for walking from the table and place it down on the mat",
+    "Move the medium-sized black and white shoe from the table to the mat",
+    "Use the left arm to pick the rubber-soled shoe with lace-up top off the table and move it onto the mat",
+    "Transfer the shoe with curved sole from the table to the mat",
+    "Take the the black and white shoe from the table using the left arm and drop it on the mat",
+    "Move the medium-sized black and white shoe from the table to the mat in one fluid motion",
+    "Lift the synthetic leather shoe from the table and place it carefully on the mat",
+    "Using the left arm, grasp the dual-tone shoe with sleek design from the table and place it onto the mat",
+    "Take the shoe made of rubber and leather from the table and put it on the mat",
+    "Pick the wearable foot protector shoe up from the table and drop it directly on the mat",
+    "Use the left arm to pick up the medium-sized black and white shoe from the table and drop it on the mat",
+    "Take the shoe with curved sole and put it on the mat",
+    "Take the average adult-sized shoe from the table and position it on the mat",
+    "Pick the shoe made of rubber and leather up from the table and put it on the mat",
+    "Move the shoe with curved sole from the table to the mat",
+    "Use the left arm to pick the shoe made of rubber and leather and position it on the mat",
+    "Lift the the average adult-sized shoe from the table and place it onto the mat",
+    "Take the dual-tone shoe with sleek design with the left arm and place it carefully on the mat",
+    "Use the left arm to grab the medium-sized black and white shoe from the table and move it to the mat",
+    "Lift the shoe with curved sole from the table and gently place it onto the mat",
+    "Use the left arm to grab the the synthetic leather shoe and put it on the mat",
+    "Pick up the wearable foot protector shoe with the left arm from the table and place it on the mat",
+    "Pick up the shoe with smooth top and grippy sole with the left arm, move it from the table, and set it on the mat",
+    "With the left arm, pick the synthetic leather shoe up from the table and put it on the mat",
+    "With the left arm, grab the rubber-soled shoe with lace-up top from the table and place it on the mat",
+    "Use the left arm to grab the comfortable shoe for walking and transfer it to the mat",
+    "Take the average adult-sized shoe from the table and carefully drop it on the mat",
+    "Remove the synthetic leather shoe from the table and lay it on the mat",
+    "Lift the comfortable shoe for walking using the left arm from the table and place it on the mat",
+    "Pick the the comfortable shoe for walking from the table and place it gently on the mat",
+    "Use the left arm to grab the the rubber-soled shoe with lace-up top from the table and set it on the mat",
+    "Lift the average adult-sized shoe off the table using the left arm and drop it on the mat",
+    "Lift the comfortable shoe for walking and place it on the mat",
+    "Grab the the medium-sized black and white shoe on the table and move it to the mat",
+    "Take the rubber-soled shoe with lace-up top from the table and place it on the mat",
+    "Use the left arm to lift the the black shoe with white accents from the table and set it on the mat",
+    "Use the left arm to lift the medium-sized black and white shoe from the table and set it on the mat",
+    "With the left arm, grab the wearable foot protector shoe off the table and place it onto the mat",
+    "Grab the average adult-sized shoe from the table with the left arm and place it on the mat",
+    "Grab the wearable foot protector shoe from the table and place it on the mat",
+    "Lift the the black and white shoe from the table using the left arm and place it on the mat",
+    "Grab the shoe with smooth top and grippy sole using the left arm, move it from the table to the mat",
+    "Use the left arm to lift the wearable foot protector shoe from the table and set it on the mat",
+    "Retrieve the shoe with curved sole from the table and set it on the mat",
+    "Pick up the dual-tone shoe with sleek design from the table and set it on the mat",
+    "Using the left arm, lift the black shoe with white accents from the table and place it onto the mat",
+    "Grab the average adult-sized shoe using the left arm and drop it on the mat",
+    "Pick up the synthetic leather shoe and move it to the mat",
+    "Take the the black shoe with white accents off the table and put it on the mat",
+    "Pick the the wearable foot protector shoe off the table and position it on the mat",
+    "Move the shoe with curved sole from the table and place it down on the mat",
+    "Move the shoe with smooth top and grippy sole from the table to the mat",
+    "Use the left arm to pick the shoe with smooth top and grippy sole off the table and move it onto the mat",
+    "Transfer the shoe with smooth top and grippy sole from the table to the mat",
+    "Take the the medium-sized black and white shoe from the table using the left arm and drop it on the mat",
+    "Move the dual-tone shoe with sleek design from the table to the mat in one fluid motion",
+    "Lift the synthetic leather shoe from the table and place it carefully on the mat",
+    "Using the left arm, grasp the shoe with curved sole from the table and place it onto the mat",
+    "Take the average adult-sized shoe from the table and put it on the mat",
+    "Pick the wearable foot protector shoe up from the table and drop it directly on the mat",
+    "Use the left arm to pick up the wearable foot protector shoe from the table and drop it on the mat",
+    "Take the shoe with curved sole and put it on the mat",
+    "Take the average adult-sized shoe from the table and position it on the mat",
+    "Pick the shoe made of rubber and leather up from the table and put it on the mat",
+    "Move the comfortable shoe for walking from the table to the mat",
+    "Use the left arm to pick the black and white shoe and position it on the mat",
+    "Lift the the medium-sized black and white shoe from the table and place it onto the mat",
+    "Take the wearable foot protector shoe with the left arm and place it carefully on the mat",
+    "Use the left arm to grab the shoe with smooth top and grippy sole from the table and move it to the mat",
+    "Lift the shoe with smooth top and grippy sole from the table and gently place it onto the mat",
+    "Use the left arm to grab the the black shoe with white accents and put it on the mat",
+    "Pick up the shoe with smooth top and grippy sole with the left arm from the table and place it on the mat",
+    "Pick up the shoe with smooth top and grippy sole with the left arm, move it from the table, and set it on the mat",
+    "With the left arm, pick the black and white shoe up from the table and put it on the mat",
+    "With the left arm, grab the average adult-sized shoe from the table and place it on the mat",
+    "Use the left arm to grab the shoe made of rubber and leather and transfer it to the mat",
+    "Take the black shoe with white accents from the table and carefully drop it on the mat",
+    "Remove the shoe with smooth top and grippy sole from the table and lay it on the mat",
+    "Lift the rubber-soled shoe with lace-up top using the left arm from the table and place it on the mat",
+    "Pick the the black shoe with white accents from the table and place it gently on the mat",
+    "Use the left arm to grab the the average adult-sized shoe from the table and set it on the mat",
+    "Lift the wearable foot protector shoe off the table using the left arm and drop it on the mat",
+    "Lift the black and white shoe and place it on the mat",
+    "Grab the the rubber-soled shoe with lace-up top on the table and move it to the mat",
+    "Take the synthetic leather shoe from the table and place it on the mat",
+    "Use the left arm to lift the the synthetic leather shoe from the table and set it on the mat"
+  ],
+  "unseen": [
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Use the left arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the left arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Use the left arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the left arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Use the left arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the left arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Use the left arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the left arm to lift the black shoe with white midsole and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Use the left arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the left arm to lift the black shoe with white midsole and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Use the left arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the left arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Use the left arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the left arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Use the left arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the left arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Use the left arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the left arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Use the left arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the left arm to lift the black shoe with white midsole and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode18.json b/place_shoe/demo_clean/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a9e1f24333e035929181bb63b0d105c3256ccf1
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the the white shoe with black lines off the table and put it on the mat",
+    "Lift the the white shoe with curved top from the table and place it onto the mat",
+    "Lift the the medium shoe with synthetic material from the table using the right arm and place it on the mat",
+    "Grab the white shoe with black lines using the right arm, move it from the table to the mat",
+    "Use the right arm to grab the shoe with black accents from the table and move it to the mat",
+    "Lift the synthetic leather white shoe off the table using the right arm and drop it on the mat",
+    "Take the white shoe with three stripes and put it on the mat",
+    "Take the synthetic leather white shoe from the table and carefully drop it on the mat",
+    "With the right arm, pick the medium shoe with synthetic material up from the table and put it on the mat",
+    "Retrieve the medium-sized shoe from the table and set it on the mat",
+    "Use the right arm to lift the the synthetic leather white shoe from the table and set it on the mat",
+    "Move the white shoe with three stripes from the table to the mat in one fluid motion",
+    "Pick the rounded-top white shoe up from the table and drop it directly on the mat",
+    "Take the sports shoe white and black from the table and put it on the mat",
+    "With the right arm, grab the sports shoe white and black off the table and place it onto the mat",
+    "Use the right arm to pick the sports shoe white and black and position it on the mat",
+    "Use the right arm to pick the smooth surface white shoe off the table and move it onto the mat",
+    "Pick the medium-sized shoe up from the table and put it on the mat",
+    "Lift the smooth surface white shoe and place it on the mat",
+    "Take the medium-sized shoe from the table and place it on the mat",
+    "Grab the medium-sized shoe from the table with the right arm and place it on the mat",
+    "Use the right arm to grab the white shoe and transfer it to the mat",
+    "Use the right arm to pick up the white shoe with curved top from the table and drop it on the mat",
+    "Transfer the white shoe with black lines from the table to the mat",
+    "Take the white shoe from the table and position it on the mat",
+    "Use the right arm to lift the medium-sized shoe from the table and set it on the mat",
+    "Move the smooth surface white shoe from the table to the mat",
+    "Grab the white shoe with black lines using the right arm and drop it on the mat",
+    "Grab the the medium shoe with synthetic material on the table and move it to the mat",
+    "Using the right arm, lift the white shoe from the table and place it onto the mat",
+    "Take the medium shoe with synthetic material with the right arm and place it carefully on the mat",
+    "Pick the the white shoe with three stripes from the table and place it gently on the mat",
+    "Remove the sports shoe white and black from the table and lay it on the mat",
+    "Lift the smooth surface white shoe from the table and gently place it onto the mat",
+    "Pick up the rounded-top white shoe with the right arm, move it from the table, and set it on the mat",
+    "Use the right arm to grab the the rubber-soled black-striped shoe and put it on the mat",
+    "With the right arm, grab the synthetic leather white shoe from the table and place it on the mat",
+    "Pick up the shoe with black accents from the table and set it on the mat",
+    "Move the white shoe from the table and place it down on the mat",
+    "Pick the the sports shoe white and black off the table and position it on the mat",
+    "Pick up the shoe with black accents and move it to the mat",
+    "Grab the white shoe with curved top from the table and place it on the mat",
+    "Lift the synthetic leather white shoe using the right arm from the table and place it on the mat",
+    "Take the the medium shoe with synthetic material from the table using the right arm and drop it on the mat",
+    "Using the right arm, grasp the synthetic leather white shoe from the table and place it onto the mat",
+    "Use the right arm to lift the white shoe from the table and set it on the mat",
+    "Pick up the sports shoe white and black with the right arm from the table and place it on the mat",
+    "Move the shoe with black accents from the table to the mat",
+    "Use the right arm to grab the the white shoe from the table and set it on the mat",
+    "Lift the synthetic leather white shoe from the table and place it carefully on the mat",
+    "Take the the white shoe with curved top off the table and put it on the mat",
+    "Lift the the medium-sized shoe from the table and place it onto the mat",
+    "Lift the the sports shoe white and black from the table using the right arm and place it on the mat",
+    "Grab the rubber-soled black-striped shoe using the right arm, move it from the table to the mat",
+    "Use the right arm to grab the white shoe with black lines from the table and move it to the mat",
+    "Lift the smooth surface white shoe off the table using the right arm and drop it on the mat",
+    "Take the synthetic leather white shoe and put it on the mat",
+    "Take the white shoe with three stripes from the table and carefully drop it on the mat",
+    "With the right arm, pick the shoe with black accents up from the table and put it on the mat",
+    "Retrieve the shoe with black accents from the table and set it on the mat",
+    "Use the right arm to lift the the shoe with black accents from the table and set it on the mat",
+    "Move the rounded-top white shoe from the table to the mat in one fluid motion",
+    "Pick the medium-sized shoe up from the table and drop it directly on the mat",
+    "Take the white shoe with three stripes from the table and put it on the mat",
+    "With the right arm, grab the white shoe with black lines off the table and place it onto the mat",
+    "Use the right arm to pick the medium shoe with synthetic material and position it on the mat",
+    "Use the right arm to pick the white shoe with three stripes off the table and move it onto the mat",
+    "Pick the white shoe up from the table and put it on the mat",
+    "Lift the medium-sized shoe and place it on the mat",
+    "Take the rubber-soled black-striped shoe from the table and place it on the mat",
+    "Grab the white shoe from the table with the right arm and place it on the mat",
+    "Use the right arm to grab the smooth surface white shoe and transfer it to the mat",
+    "Use the right arm to pick up the shoe with black accents from the table and drop it on the mat",
+    "Transfer the white shoe with three stripes from the table to the mat",
+    "Take the sports shoe white and black from the table and position it on the mat",
+    "Use the right arm to lift the smooth surface white shoe from the table and set it on the mat",
+    "Move the white shoe from the table to the mat",
+    "Grab the white shoe with black lines using the right arm and drop it on the mat",
+    "Grab the the white shoe on the table and move it to the mat",
+    "Using the right arm, lift the white shoe with three stripes from the table and place it onto the mat",
+    "Take the white shoe with curved top with the right arm and place it carefully on the mat",
+    "Pick the the white shoe with three stripes from the table and place it gently on the mat",
+    "Remove the medium shoe with synthetic material from the table and lay it on the mat",
+    "Lift the smooth surface white shoe from the table and gently place it onto the mat",
+    "Pick up the shoe with black accents with the right arm, move it from the table, and set it on the mat",
+    "Use the right arm to grab the the synthetic leather white shoe and put it on the mat",
+    "With the right arm, grab the synthetic leather white shoe from the table and place it on the mat",
+    "Pick up the white shoe with curved top from the table and set it on the mat",
+    "Move the white shoe from the table and place it down on the mat",
+    "Pick the the medium-sized shoe off the table and position it on the mat",
+    "Pick up the white shoe with black lines and move it to the mat",
+    "Grab the rounded-top white shoe from the table and place it on the mat",
+    "Lift the rounded-top white shoe using the right arm from the table and place it on the mat",
+    "Take the the shoe with black accents from the table using the right arm and drop it on the mat",
+    "Using the right arm, grasp the white shoe with curved top from the table and place it onto the mat",
+    "Use the right arm to lift the white shoe with three stripes from the table and set it on the mat",
+    "Pick up the shoe with black accents with the right arm from the table and place it on the mat",
+    "Move the white shoe with black lines from the table to the mat",
+    "Use the right arm to grab the the white shoe from the table and set it on the mat",
+    "Lift the medium shoe with synthetic material from the table and place it carefully on the mat"
+  ],
+  "unseen": [
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Use the right arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Use the right arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Use the right arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Use the right arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Use the right arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Use the right arm to lift the black-striped white shoe and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Use the right arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Use the right arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Use the right arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Use the right arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Use the right arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Use the right arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Use the right arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Use the right arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Use the right arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Use the right arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Use the right arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Use the right arm to lift the black-striped white shoe and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Use the right arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Use the right arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode19.json b/place_shoe/demo_clean/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..93733bb8b3600bf5400d27d60034864e8ccd82bf
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, grab the medium-sized walking shoe from the table and place it on the mat",
+    "Pick up the shoe with lace holes and move it to the mat",
+    "Grab the shoe with lace holes from the table with the right arm and place it on the mat",
+    "Lift the rounded front shoe and place it on the mat",
+    "Use the right arm to grab the shoe with grooved bottom from the table and move it to the mat",
+    "Take the rounded front shoe from the table and carefully drop it on the mat",
+    "Lift the dark shoe with grooves on sole from the table and place it carefully on the mat",
+    "Grab the brown shoe from the table and place it on the mat",
+    "Retrieve the shoe for everyday wear from the table and set it on the mat",
+    "Use the right arm to lift the rounded front shoe from the table and set it on the mat",
+    "Move the shoe for walking with rubber grip from the table to the mat",
+    "Pick up the rounded front shoe from the table and set it on the mat",
+    "Use the right arm to lift the dark brown leather shoe from the table and set it on the mat",
+    "Take the shoe for everyday wear with the right arm and place it carefully on the mat",
+    "Take the the medium-sized walking shoe from the table using the right arm and drop it on the mat",
+    "Take the rounded front shoe from the table and put it on the mat",
+    "Use the right arm to grab the the medium-sized walking shoe and put it on the mat",
+    "Use the right arm to lift the the shoe for walking with rubber grip from the table and set it on the mat",
+    "With the right arm, grab the dark shoe with grooves on sole off the table and place it onto the mat",
+    "Lift the the shoe for everyday wear from the table using the right arm and place it on the mat",
+    "Use the right arm to grab the rounded tip leather shoe and transfer it to the mat",
+    "Transfer the shoe for walking with rubber grip from the table to the mat",
+    "Remove the smooth leather shoe from the table and lay it on the mat",
+    "Pick the the shoe with thick rubber sole from the table and place it gently on the mat",
+    "Grab the shoe for everyday wear using the right arm and drop it on the mat",
+    "Use the right arm to grab the the rounded tip leather shoe from the table and set it on the mat",
+    "Move the rounded tip leather shoe from the table to the mat",
+    "Using the right arm, lift the rounded front shoe from the table and place it onto the mat",
+    "Lift the brown shoe off the table using the right arm and drop it on the mat",
+    "Pick the shoe with lace holes up from the table and put it on the mat",
+    "Take the rounded tip leather shoe and put it on the mat",
+    "Pick up the shoe with lace holes with the right arm, move it from the table, and set it on the mat",
+    "Lift the the rounded tip leather shoe from the table and place it onto the mat",
+    "Take the shoe with thick rubber sole from the table and place it on the mat",
+    "Lift the dark shoe with grooves on sole from the table and gently place it onto the mat",
+    "Pick the the shoe with lace holes off the table and position it on the mat",
+    "Move the shoe with thick rubber sole from the table to the mat in one fluid motion",
+    "Grab the the shoe with thick rubber sole on the table and move it to the mat",
+    "Using the right arm, grasp the shoe with grooved bottom from the table and place it onto the mat",
+    "Use the right arm to pick up the brown shoe from the table and drop it on the mat",
+    "With the right arm, pick the shoe with thick rubber sole up from the table and put it on the mat",
+    "Take the shoe with thick rubber sole from the table and position it on the mat",
+    "Pick the medium-sized walking shoe up from the table and drop it directly on the mat",
+    "Pick up the medium-sized walking shoe with the right arm from the table and place it on the mat",
+    "Use the right arm to pick the rounded tip leather shoe and position it on the mat",
+    "Lift the medium-sized walking shoe using the right arm from the table and place it on the mat",
+    "Use the right arm to pick the shoe for walking with rubber grip off the table and move it onto the mat",
+    "Grab the dark brown leather shoe using the right arm, move it from the table to the mat",
+    "Move the medium-sized walking shoe from the table and place it down on the mat",
+    "Take the the shoe for walking with rubber grip off the table and put it on the mat",
+    "With the right arm, grab the rounded front shoe from the table and place it on the mat",
+    "Pick up the rounded tip leather shoe and move it to the mat",
+    "Grab the dark brown leather shoe from the table with the right arm and place it on the mat",
+    "Lift the shoe for walking with rubber grip and place it on the mat",
+    "Use the right arm to grab the medium-sized walking shoe from the table and move it to the mat",
+    "Take the dark shoe with grooves on sole from the table and carefully drop it on the mat",
+    "Lift the shoe with thick rubber sole from the table and place it carefully on the mat",
+    "Grab the dark brown leather shoe from the table and place it on the mat",
+    "Retrieve the smooth leather shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe with thick rubber sole from the table and set it on the mat",
+    "Move the dark brown leather shoe from the table to the mat",
+    "Pick up the dark shoe with grooves on sole from the table and set it on the mat",
+    "Use the right arm to lift the shoe for walking with rubber grip from the table and set it on the mat",
+    "Take the dark brown leather shoe with the right arm and place it carefully on the mat",
+    "Take the the rounded tip leather shoe from the table using the right arm and drop it on the mat",
+    "Take the brown shoe from the table and put it on the mat",
+    "Use the right arm to grab the the brown shoe and put it on the mat",
+    "Use the right arm to lift the the rounded tip leather shoe from the table and set it on the mat",
+    "With the right arm, grab the dark brown leather shoe off the table and place it onto the mat",
+    "Lift the the dark brown leather shoe from the table using the right arm and place it on the mat",
+    "Use the right arm to grab the shoe with thick rubber sole and transfer it to the mat",
+    "Transfer the medium-sized walking shoe from the table to the mat",
+    "Remove the shoe with grooved bottom from the table and lay it on the mat",
+    "Pick the the shoe with thick rubber sole from the table and place it gently on the mat",
+    "Grab the shoe with lace holes using the right arm and drop it on the mat",
+    "Use the right arm to grab the the shoe with lace holes from the table and set it on the mat",
+    "Move the shoe with thick rubber sole from the table to the mat",
+    "Using the right arm, lift the shoe with lace holes from the table and place it onto the mat",
+    "Lift the shoe with grooved bottom off the table using the right arm and drop it on the mat",
+    "Pick the medium-sized walking shoe up from the table and put it on the mat",
+    "Take the rounded front shoe and put it on the mat",
+    "Pick up the brown shoe with the right arm, move it from the table, and set it on the mat",
+    "Lift the the rounded front shoe from the table and place it onto the mat",
+    "Take the medium-sized walking shoe from the table and place it on the mat",
+    "Lift the shoe with lace holes from the table and gently place it onto the mat",
+    "Pick the the rounded front shoe off the table and position it on the mat",
+    "Move the shoe for everyday wear from the table to the mat in one fluid motion",
+    "Grab the the brown shoe on the table and move it to the mat",
+    "Using the right arm, grasp the brown shoe from the table and place it onto the mat",
+    "Use the right arm to pick up the dark brown leather shoe from the table and drop it on the mat",
+    "With the right arm, pick the shoe with thick rubber sole up from the table and put it on the mat",
+    "Take the shoe with lace holes from the table and position it on the mat",
+    "Pick the brown shoe up from the table and drop it directly on the mat",
+    "Pick up the smooth leather shoe with the right arm from the table and place it on the mat",
+    "Use the right arm to pick the dark brown leather shoe and position it on the mat",
+    "Lift the shoe with grooved bottom using the right arm from the table and place it on the mat",
+    "Use the right arm to pick the medium-sized walking shoe off the table and move it onto the mat",
+    "Grab the shoe for walking with rubber grip using the right arm, move it from the table to the mat",
+    "Move the shoe for walking with rubber grip from the table and place it down on the mat",
+    "Take the the brown shoe off the table and put it on the mat"
+  ],
+  "unseen": [
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode2.json b/place_shoe/demo_clean/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8ded76bec75fdd415317bbc2c832a543b8b0a11
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the shoe with textured sole from the table and place it on the mat",
+    "Use the right arm to grab the white sneaker shoe and transfer it to the mat",
+    "Pick up the shoe for walking with the right arm, move it from the table, and set it on the mat",
+    "Use the right arm to grab the the medium white shoe from the table and set it on the mat",
+    "Pick up the medium white shoe and move it to the mat",
+    "Use the right arm to grab the the synthetic leather shoe and put it on the mat",
+    "Use the right arm to lift the white sneaker shoe from the table and set it on the mat",
+    "Lift the medium white shoe off the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the white shoe with rubber sole from the table and set it on the mat",
+    "Move the shoe for walking from the table to the mat",
+    "Lift the medium white shoe from the table and place it carefully on the mat",
+    "Use the right arm to grab the rubber sole shoe from the table and move it to the mat",
+    "Pick the the shoe with textured sole from the table and place it gently on the mat",
+    "Using the right arm, lift the medium white shoe from the table and place it onto the mat",
+    "Using the right arm, grasp the white shoe with rubber sole from the table and place it onto the mat",
+    "Use the right arm to pick the smooth white shoe and position it on the mat",
+    "Pick up the medium-sized rounded white shoe with the right arm from the table and place it on the mat",
+    "Lift the shoe with curved sole and place it on the mat",
+    "Move the medium white shoe from the table and place it down on the mat",
+    "Take the shoe with curved sole and put it on the mat",
+    "With the right arm, pick the synthetic leather shoe up from the table and put it on the mat",
+    "Pick the shoe for walking up from the table and drop it directly on the mat",
+    "Take the synthetic leather shoe from the table and position it on the mat",
+    "Lift the shoe with textured sole from the table and gently place it onto the mat",
+    "Take the shoe with curved sole from the table and put it on the mat",
+    "Move the shoe with lace holes from the table to the mat in one fluid motion",
+    "With the right arm, grab the medium-sized rounded white shoe off the table and place it onto the mat",
+    "Take the white shoe with rubber sole with the right arm and place it carefully on the mat",
+    "Pick the medium white shoe up from the table and put it on the mat",
+    "Grab the shoe for walking from the table with the right arm and place it on the mat",
+    "Remove the smooth white shoe from the table and lay it on the mat",
+    "Use the right arm to pick the white shoe with rubber sole off the table and move it onto the mat",
+    "Transfer the medium white shoe from the table to the mat",
+    "Lift the the medium white shoe from the table and place it onto the mat",
+    "Pick up the medium-sized rounded white shoe from the table and set it on the mat",
+    "Take the shoe for walking from the table and place it on the mat",
+    "With the right arm, grab the smooth white shoe from the table and place it on the mat",
+    "Use the right arm to lift the the smooth white shoe from the table and set it on the mat",
+    "Grab the shoe with curved sole using the right arm and drop it on the mat",
+    "Grab the shoe for walking using the right arm, move it from the table to the mat",
+    "Pick the the smooth white shoe off the table and position it on the mat",
+    "Lift the the shoe with lace holes from the table using the right arm and place it on the mat",
+    "Use the right arm to pick up the synthetic leather shoe from the table and drop it on the mat",
+    "Grab the the shoe with textured sole on the table and move it to the mat",
+    "Take the the medium-sized rounded white shoe off the table and put it on the mat",
+    "Retrieve the shoe for walking from the table and set it on the mat",
+    "Move the shoe with textured sole from the table to the mat",
+    "Lift the white shoe with rubber sole using the right arm from the table and place it on the mat",
+    "Take the the medium white shoe from the table using the right arm and drop it on the mat",
+    "Take the smooth white shoe from the table and carefully drop it on the mat",
+    "Grab the shoe for walking from the table and place it on the mat",
+    "Use the right arm to grab the white shoe with rubber sole and transfer it to the mat",
+    "Pick up the medium-sized rounded white shoe with the right arm, move it from the table, and set it on the mat",
+    "Use the right arm to grab the the shoe with lace holes from the table and set it on the mat",
+    "Pick up the rubber sole shoe and move it to the mat",
+    "Use the right arm to grab the the smooth white shoe and put it on the mat",
+    "Use the right arm to lift the shoe with patterned bottom from the table and set it on the mat",
+    "Lift the synthetic leather shoe off the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the white sneaker shoe from the table and set it on the mat",
+    "Move the white sneaker shoe from the table to the mat",
+    "Lift the shoe with textured sole from the table and place it carefully on the mat",
+    "Use the right arm to grab the medium-sized rounded white shoe from the table and move it to the mat",
+    "Pick the the rubber sole shoe from the table and place it gently on the mat",
+    "Using the right arm, lift the smooth white shoe from the table and place it onto the mat",
+    "Using the right arm, grasp the shoe for walking from the table and place it onto the mat",
+    "Use the right arm to pick the rubber sole shoe and position it on the mat",
+    "Pick up the shoe for walking with the right arm from the table and place it on the mat",
+    "Lift the synthetic leather shoe and place it on the mat",
+    "Move the smooth white shoe from the table and place it down on the mat",
+    "Take the shoe with lace holes and put it on the mat",
+    "With the right arm, pick the shoe with lace holes up from the table and put it on the mat",
+    "Pick the white sneaker shoe up from the table and drop it directly on the mat",
+    "Take the white shoe with rubber sole from the table and position it on the mat",
+    "Lift the white sneaker shoe from the table and gently place it onto the mat",
+    "Take the white shoe with rubber sole from the table and put it on the mat",
+    "Move the medium white shoe from the table to the mat in one fluid motion",
+    "With the right arm, grab the medium white shoe off the table and place it onto the mat",
+    "Take the shoe for walking with the right arm and place it carefully on the mat",
+    "Pick the rubber sole shoe up from the table and put it on the mat",
+    "Grab the white shoe with rubber sole from the table with the right arm and place it on the mat",
+    "Remove the medium white shoe from the table and lay it on the mat",
+    "Use the right arm to pick the shoe with textured sole off the table and move it onto the mat",
+    "Transfer the white shoe with rubber sole from the table to the mat",
+    "Lift the the synthetic leather shoe from the table and place it onto the mat",
+    "Pick up the shoe with curved sole from the table and set it on the mat",
+    "Take the shoe with lace holes from the table and place it on the mat",
+    "With the right arm, grab the shoe with lace holes from the table and place it on the mat",
+    "Use the right arm to lift the the shoe with patterned bottom from the table and set it on the mat",
+    "Grab the shoe with curved sole using the right arm and drop it on the mat",
+    "Grab the white sneaker shoe using the right arm, move it from the table to the mat",
+    "Pick the the rubber sole shoe off the table and position it on the mat",
+    "Lift the the shoe with textured sole from the table using the right arm and place it on the mat",
+    "Use the right arm to pick up the shoe with curved sole from the table and drop it on the mat",
+    "Grab the the shoe for walking on the table and move it to the mat",
+    "Take the the shoe with textured sole off the table and put it on the mat",
+    "Retrieve the medium white shoe from the table and set it on the mat",
+    "Move the white shoe with rubber sole from the table to the mat",
+    "Lift the shoe with textured sole using the right arm from the table and place it on the mat",
+    "Take the the shoe with patterned bottom from the table using the right arm and drop it on the mat",
+    "Take the shoe with lace holes from the table and carefully drop it on the mat"
+  ],
+  "unseen": [
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode20.json b/place_shoe/demo_clean/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..75679f7e0d3ed080bc4dc9a1ba7689a4448b7214
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the the shoe with colorful stripes and put it on the mat",
+    "Pick up the shoe with colorful stripes with the right arm, move it from the table, and set it on the mat",
+    "Use the right arm to grab the the rounded shoe with visible straps from the table and set it on the mat",
+    "Lift the plastic brown shoe using the right arm from the table and place it on the mat",
+    "Pick up the medium-sized brown shoe and move it to the mat",
+    "Take the medium-sized brown shoe from the table and position it on the mat",
+    "Take the shoe with red green white pattern and put it on the mat",
+    "Grab the small brown footwear replica from the table with the right arm and place it on the mat",
+    "Move the shoe with red green white pattern from the table to the mat",
+    "Pick up the rounded shoe with visible straps with the right arm from the table and place it on the mat",
+    "Lift the shoe with textured bottom off the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the the shoe with colorful stripes from the table and set it on the mat",
+    "Use the right arm to grab the medium-sized brown shoe from the table and move it to the mat",
+    "Take the the shoe with open straps from the table using the right arm and drop it on the mat",
+    "Pick the light brown shoe with white sole up from the table and drop it directly on the mat",
+    "With the right arm, pick the brown shoe with strap loops up from the table and put it on the mat",
+    "Grab the plastic brown shoe using the right arm, move it from the table to the mat",
+    "Lift the plastic brown shoe and place it on the mat",
+    "Lift the the small brown footwear replica from the table using the right arm and place it on the mat",
+    "Transfer the shoe with open straps from the table to the mat",
+    "Lift the the small brown footwear replica from the table and place it onto the mat",
+    "Use the right arm to lift the shoe with textured bottom from the table and set it on the mat",
+    "Remove the light brown shoe with white sole from the table and lay it on the mat",
+    "Lift the shoe with red green white pattern from the table and gently place it onto the mat",
+    "Use the right arm to pick the shoe with rounded and open form off the table and move it onto the mat",
+    "Grab the brown shoe with strap loops from the table and place it on the mat",
+    "With the right arm, grab the light brown shoe off the table and place it onto the mat",
+    "Take the shoe with rounded and open form with the right arm and place it carefully on the mat",
+    "Using the right arm, grasp the shoe with open straps from the table and place it onto the mat",
+    "Take the shoe with red green white pattern from the table and carefully drop it on the mat",
+    "Move the light brown shoe from the table and place it down on the mat",
+    "Take the small brown footwear replica from the table and put it on the mat",
+    "Take the the shoe with colorful stripes off the table and put it on the mat",
+    "With the right arm, grab the shoe with colorful stripes from the table and place it on the mat",
+    "Use the right arm to grab the shoe with colorful stripes and transfer it to the mat",
+    "Move the plastic brown shoe from the table to the mat",
+    "Lift the shoe with rounded and open form from the table and place it carefully on the mat",
+    "Pick the the shoe with rounded and open form off the table and position it on the mat",
+    "Move the light brown shoe from the table to the mat in one fluid motion",
+    "Use the right arm to pick the light brown shoe and position it on the mat",
+    "Grab the medium-sized brown shoe using the right arm and drop it on the mat",
+    "Take the shoe with textured bottom from the table and place it on the mat",
+    "Pick up the light brown shoe with white sole from the table and set it on the mat",
+    "Pick the the light brown shoe with white sole from the table and place it gently on the mat",
+    "Grab the the small brown footwear replica on the table and move it to the mat",
+    "Using the right arm, lift the shoe with open straps from the table and place it onto the mat",
+    "Pick the medium-sized brown shoe up from the table and put it on the mat",
+    "Use the right arm to pick up the shoe with textured bottom from the table and drop it on the mat",
+    "Use the right arm to lift the shoe with textured bottom from the table and set it on the mat",
+    "Retrieve the rounded shoe with visible straps from the table and set it on the mat",
+    "Use the right arm to grab the the shoe with colorful stripes and put it on the mat",
+    "Pick up the shoe with colorful stripes with the right arm, move it from the table, and set it on the mat",
+    "Use the right arm to grab the the brown shoe with strap loops from the table and set it on the mat",
+    "Lift the plastic brown shoe using the right arm from the table and place it on the mat",
+    "Pick up the brown shoe with strap loops and move it to the mat",
+    "Take the small brown footwear replica from the table and position it on the mat",
+    "Take the shoe with colorful stripes and put it on the mat",
+    "Grab the shoe with open straps from the table with the right arm and place it on the mat",
+    "Move the plastic brown shoe from the table to the mat",
+    "Pick up the shoe with rounded and open form with the right arm from the table and place it on the mat",
+    "Lift the light brown shoe with white sole off the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the the medium-sized brown shoe from the table and set it on the mat",
+    "Use the right arm to grab the shoe with red green white pattern from the table and move it to the mat",
+    "Take the the light brown shoe with white sole from the table using the right arm and drop it on the mat",
+    "Pick the shoe with textured bottom up from the table and drop it directly on the mat",
+    "With the right arm, pick the shoe with open straps up from the table and put it on the mat",
+    "Grab the plastic brown shoe using the right arm, move it from the table to the mat",
+    "Lift the rounded shoe with visible straps and place it on the mat",
+    "Lift the the rounded shoe with visible straps from the table using the right arm and place it on the mat",
+    "Transfer the rounded shoe with visible straps from the table to the mat",
+    "Lift the the medium-sized brown shoe from the table and place it onto the mat",
+    "Use the right arm to lift the medium-sized brown shoe from the table and set it on the mat",
+    "Remove the light brown shoe with white sole from the table and lay it on the mat",
+    "Lift the small brown footwear replica from the table and gently place it onto the mat",
+    "Use the right arm to pick the brown shoe with strap loops off the table and move it onto the mat",
+    "Grab the rounded shoe with visible straps from the table and place it on the mat",
+    "With the right arm, grab the light brown shoe off the table and place it onto the mat",
+    "Take the plastic brown shoe with the right arm and place it carefully on the mat",
+    "Using the right arm, grasp the light brown shoe with white sole from the table and place it onto the mat",
+    "Take the shoe with rounded and open form from the table and carefully drop it on the mat",
+    "Move the shoe with red green white pattern from the table and place it down on the mat",
+    "Take the shoe with red green white pattern from the table and put it on the mat",
+    "Take the the plastic brown shoe off the table and put it on the mat",
+    "With the right arm, grab the medium-sized brown shoe from the table and place it on the mat",
+    "Use the right arm to grab the shoe with colorful stripes and transfer it to the mat",
+    "Move the shoe with colorful stripes from the table to the mat",
+    "Lift the plastic brown shoe from the table and place it carefully on the mat",
+    "Pick the the shoe with open straps off the table and position it on the mat",
+    "Move the medium-sized brown shoe from the table to the mat in one fluid motion",
+    "Use the right arm to pick the light brown shoe with white sole and position it on the mat",
+    "Grab the shoe with textured bottom using the right arm and drop it on the mat",
+    "Take the shoe with rounded and open form from the table and place it on the mat",
+    "Pick up the shoe with open straps from the table and set it on the mat",
+    "Pick the the shoe with open straps from the table and place it gently on the mat",
+    "Grab the the shoe with rounded and open form on the table and move it to the mat",
+    "Using the right arm, lift the medium-sized brown shoe from the table and place it onto the mat",
+    "Pick the shoe with colorful stripes up from the table and put it on the mat",
+    "Use the right arm to pick up the plastic brown shoe from the table and drop it on the mat",
+    "Use the right arm to lift the rounded shoe with visible straps from the table and set it on the mat",
+    "Retrieve the brown shoe with strap loops from the table and set it on the mat"
+  ],
+  "unseen": [
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the right arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Use the right arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Use the right arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the right arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Use the right arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Use the right arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the right arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Use the right arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the right arm to lift the smooth plastic shoe and drop it on the mat",
+    "Use the right arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Use the right arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the right arm to lift the smooth plastic shoe and drop it on the mat",
+    "Use the right arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Use the right arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the right arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Use the right arm to grab the shoe model with ribbed sole from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode21.json b/place_shoe/demo_clean/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a096e8e454fa5526d5cc91e1da5cdcb2fb9d446
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the synthetic leather shoe and move it to the mat",
+    "Take the the rubber sole shoe from the table using the right arm and drop it on the mat",
+    "Pick up the shoe with curved sole from the table and set it on the mat",
+    "Lift the the shoe with lace holes from the table using the right arm and place it on the mat",
+    "Transfer the shoe with curved sole from the table to the mat",
+    "Use the right arm to grab the medium-sized rounded white shoe from the table and move it to the mat",
+    "Lift the shoe with lace holes from the table and gently place it onto the mat",
+    "Pick up the medium-sized rounded white shoe with the right arm from the table and place it on the mat",
+    "Remove the medium white shoe from the table and lay it on the mat",
+    "Move the shoe for walking from the table to the mat",
+    "Use the right arm to grab the the synthetic leather shoe and put it on the mat",
+    "With the right arm, grab the white sneaker shoe from the table and place it on the mat",
+    "Move the rubber sole shoe from the table and place it down on the mat",
+    "Using the right arm, grasp the shoe for walking from the table and place it onto the mat",
+    "Lift the shoe with lace holes using the right arm from the table and place it on the mat",
+    "Use the right arm to grab the the smooth white shoe from the table and set it on the mat",
+    "Retrieve the shoe with textured sole from the table and set it on the mat",
+    "With the right arm, grab the smooth white shoe off the table and place it onto the mat",
+    "Use the right arm to pick the shoe with patterned bottom off the table and move it onto the mat",
+    "Move the white sneaker shoe from the table to the mat in one fluid motion",
+    "Pick the shoe for walking up from the table and drop it directly on the mat",
+    "Use the right arm to lift the the rubber sole shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe with patterned bottom from the table and set it on the mat",
+    "Grab the white sneaker shoe using the right arm and drop it on the mat",
+    "Take the shoe with patterned bottom and put it on the mat",
+    "Use the right arm to lift the shoe for walking from the table and set it on the mat",
+    "Pick the the medium-sized rounded white shoe off the table and position it on the mat",
+    "Move the white shoe with rubber sole from the table to the mat",
+    "Grab the synthetic leather shoe from the table with the right arm and place it on the mat",
+    "Take the the shoe with textured sole off the table and put it on the mat",
+    "Grab the the smooth white shoe on the table and move it to the mat",
+    "Take the shoe with textured sole from the table and position it on the mat",
+    "Grab the shoe with curved sole using the right arm, move it from the table to the mat",
+    "Pick up the shoe with curved sole with the right arm, move it from the table, and set it on the mat",
+    "With the right arm, pick the shoe with textured sole up from the table and put it on the mat",
+    "Take the shoe with lace holes from the table and put it on the mat",
+    "Lift the shoe with lace holes off the table using the right arm and drop it on the mat",
+    "Pick the smooth white shoe up from the table and put it on the mat",
+    "Use the right arm to pick up the medium-sized rounded white shoe from the table and drop it on the mat",
+    "Grab the medium-sized rounded white shoe from the table and place it on the mat",
+    "Using the right arm, lift the white shoe with rubber sole from the table and place it onto the mat",
+    "Use the right arm to grab the shoe with patterned bottom and transfer it to the mat",
+    "Take the synthetic leather shoe from the table and place it on the mat",
+    "Take the medium white shoe with the right arm and place it carefully on the mat",
+    "Lift the synthetic leather shoe from the table and place it carefully on the mat",
+    "Use the right arm to pick the shoe with patterned bottom and position it on the mat",
+    "Pick the the synthetic leather shoe from the table and place it gently on the mat",
+    "Lift the the white sneaker shoe from the table and place it onto the mat",
+    "Lift the shoe with curved sole and place it on the mat",
+    "Take the medium white shoe from the table and carefully drop it on the mat",
+    "Pick up the medium-sized rounded white shoe and move it to the mat",
+    "Take the the white shoe with rubber sole from the table using the right arm and drop it on the mat",
+    "Pick up the shoe for walking from the table and set it on the mat",
+    "Lift the the medium-sized rounded white shoe from the table using the right arm and place it on the mat",
+    "Transfer the shoe with textured sole from the table to the mat",
+    "Use the right arm to grab the shoe with patterned bottom from the table and move it to the mat",
+    "Lift the synthetic leather shoe from the table and gently place it onto the mat",
+    "Pick up the rubber sole shoe with the right arm from the table and place it on the mat",
+    "Remove the synthetic leather shoe from the table and lay it on the mat",
+    "Move the shoe with lace holes from the table to the mat",
+    "Use the right arm to grab the the smooth white shoe and put it on the mat",
+    "With the right arm, grab the shoe for walking from the table and place it on the mat",
+    "Move the rubber sole shoe from the table and place it down on the mat",
+    "Using the right arm, grasp the medium white shoe from the table and place it onto the mat",
+    "Lift the shoe with textured sole using the right arm from the table and place it on the mat",
+    "Use the right arm to grab the the white shoe with rubber sole from the table and set it on the mat",
+    "Retrieve the medium white shoe from the table and set it on the mat",
+    "With the right arm, grab the shoe with patterned bottom off the table and place it onto the mat",
+    "Use the right arm to pick the shoe with patterned bottom off the table and move it onto the mat",
+    "Move the rubber sole shoe from the table to the mat in one fluid motion",
+    "Pick the white sneaker shoe up from the table and drop it directly on the mat",
+    "Use the right arm to lift the the white sneaker shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe with curved sole from the table and set it on the mat",
+    "Grab the rubber sole shoe using the right arm and drop it on the mat",
+    "Take the shoe for walking and put it on the mat",
+    "Use the right arm to lift the smooth white shoe from the table and set it on the mat",
+    "Pick the the smooth white shoe off the table and position it on the mat",
+    "Move the medium white shoe from the table to the mat",
+    "Grab the shoe with lace holes from the table with the right arm and place it on the mat",
+    "Take the the medium-sized rounded white shoe off the table and put it on the mat",
+    "Grab the the medium-sized rounded white shoe on the table and move it to the mat",
+    "Take the white shoe with rubber sole from the table and position it on the mat",
+    "Grab the rubber sole shoe using the right arm, move it from the table to the mat",
+    "Pick up the white sneaker shoe with the right arm, move it from the table, and set it on the mat",
+    "With the right arm, pick the white shoe with rubber sole up from the table and put it on the mat",
+    "Take the rubber sole shoe from the table and put it on the mat",
+    "Lift the shoe with lace holes off the table using the right arm and drop it on the mat",
+    "Pick the shoe with curved sole up from the table and put it on the mat",
+    "Use the right arm to pick up the medium-sized rounded white shoe from the table and drop it on the mat",
+    "Grab the medium-sized rounded white shoe from the table and place it on the mat",
+    "Using the right arm, lift the white shoe with rubber sole from the table and place it onto the mat",
+    "Use the right arm to grab the shoe with curved sole and transfer it to the mat",
+    "Take the smooth white shoe from the table and place it on the mat",
+    "Take the medium white shoe with the right arm and place it carefully on the mat",
+    "Lift the synthetic leather shoe from the table and place it carefully on the mat",
+    "Use the right arm to pick the rubber sole shoe and position it on the mat",
+    "Pick the the white shoe with rubber sole from the table and place it gently on the mat",
+    "Lift the the smooth white shoe from the table and place it onto the mat",
+    "Lift the smooth white shoe and place it on the mat",
+    "Take the medium white shoe from the table and carefully drop it on the mat"
+  ],
+  "unseen": [
+    "Grab the medium adult shoe and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the the white shoe from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode22.json b/place_shoe/demo_clean/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..1157e3bb34b9bfd3c87e6d087f260d574f1b4b10
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the the light brown shoe from the table and set it on the mat",
+    "Use the right arm to lift the brown shoe with strap loops from the table and set it on the mat",
+    "Use the right arm to grab the shoe with colorful stripes from the table and move it to the mat",
+    "With the right arm, grab the shoe with red green white pattern off the table and place it onto the mat",
+    "Take the shoe with textured bottom from the table and place it on the mat",
+    "Pick the the medium-sized brown shoe from the table and place it gently on the mat",
+    "Lift the shoe with textured bottom and place it on the mat",
+    "Lift the shoe with open straps from the table and gently place it onto the mat",
+    "Use the right arm to grab the the shoe with textured bottom and put it on the mat",
+    "Take the plastic brown shoe from the table and position it on the mat",
+    "Use the right arm to pick the small brown footwear replica off the table and move it onto the mat",
+    "Take the shoe with open straps with the right arm and place it carefully on the mat",
+    "Lift the the plastic brown shoe from the table and place it onto the mat",
+    "Take the the rounded shoe with visible straps from the table using the right arm and drop it on the mat",
+    "Lift the light brown shoe with white sole off the table using the right arm and drop it on the mat",
+    "Pick the the brown shoe with strap loops off the table and position it on the mat",
+    "Take the medium-sized brown shoe from the table and put it on the mat",
+    "Take the rounded shoe with visible straps and put it on the mat",
+    "Use the right arm to lift the the light brown shoe with white sole from the table and set it on the mat",
+    "Use the right arm to pick the shoe with red green white pattern and position it on the mat",
+    "Grab the light brown shoe with white sole from the table with the right arm and place it on the mat",
+    "Pick up the medium-sized brown shoe with the right arm from the table and place it on the mat",
+    "With the right arm, pick the plastic brown shoe up from the table and put it on the mat",
+    "Retrieve the medium-sized brown shoe from the table and set it on the mat",
+    "Move the small brown footwear replica from the table to the mat in one fluid motion",
+    "Lift the shoe with open straps using the right arm from the table and place it on the mat",
+    "Move the shoe with colorful stripes from the table to the mat",
+    "Pick up the shoe with red green white pattern from the table and set it on the mat",
+    "Take the the shoe with textured bottom off the table and put it on the mat",
+    "Grab the shoe with open straps from the table and place it on the mat",
+    "Pick the brown shoe with strap loops up from the table and put it on the mat",
+    "Grab the small brown footwear replica using the right arm and drop it on the mat",
+    "Take the shoe with colorful stripes from the table and carefully drop it on the mat",
+    "Pick up the medium-sized brown shoe with the right arm, move it from the table, and set it on the mat",
+    "Pick the brown shoe with strap loops up from the table and drop it directly on the mat",
+    "Remove the plastic brown shoe from the table and lay it on the mat",
+    "Lift the shoe with rounded and open form from the table and place it carefully on the mat",
+    "Using the right arm, lift the shoe with textured bottom from the table and place it onto the mat",
+    "Lift the the shoe with textured bottom from the table using the right arm and place it on the mat",
+    "With the right arm, grab the shoe with red green white pattern from the table and place it on the mat",
+    "Grab the shoe with open straps using the right arm, move it from the table to the mat",
+    "Grab the the shoe with textured bottom on the table and move it to the mat",
+    "Use the right arm to grab the light brown shoe and transfer it to the mat",
+    "Move the shoe with colorful stripes from the table and place it down on the mat",
+    "Transfer the brown shoe with strap loops from the table to the mat",
+    "Pick up the medium-sized brown shoe and move it to the mat",
+    "Use the right arm to lift the plastic brown shoe from the table and set it on the mat",
+    "Use the right arm to pick up the shoe with textured bottom from the table and drop it on the mat",
+    "Move the brown shoe with strap loops from the table to the mat",
+    "Using the right arm, grasp the rounded shoe with visible straps from the table and place it onto the mat",
+    "Use the right arm to grab the the brown shoe with strap loops from the table and set it on the mat",
+    "Use the right arm to lift the shoe with textured bottom from the table and set it on the mat",
+    "Use the right arm to grab the light brown shoe with white sole from the table and move it to the mat",
+    "With the right arm, grab the shoe with textured bottom off the table and place it onto the mat",
+    "Take the shoe with red green white pattern from the table and place it on the mat",
+    "Pick the the shoe with rounded and open form from the table and place it gently on the mat",
+    "Lift the shoe with textured bottom and place it on the mat",
+    "Lift the shoe with open straps from the table and gently place it onto the mat",
+    "Use the right arm to grab the the shoe with red green white pattern and put it on the mat",
+    "Take the rounded shoe with visible straps from the table and position it on the mat",
+    "Use the right arm to pick the small brown footwear replica off the table and move it onto the mat",
+    "Take the light brown shoe with white sole with the right arm and place it carefully on the mat",
+    "Lift the the shoe with red green white pattern from the table and place it onto the mat",
+    "Take the the shoe with open straps from the table using the right arm and drop it on the mat",
+    "Lift the brown shoe with strap loops off the table using the right arm and drop it on the mat",
+    "Pick the the small brown footwear replica off the table and position it on the mat",
+    "Take the shoe with textured bottom from the table and put it on the mat",
+    "Take the shoe with rounded and open form and put it on the mat",
+    "Use the right arm to lift the the plastic brown shoe from the table and set it on the mat",
+    "Use the right arm to pick the rounded shoe with visible straps and position it on the mat",
+    "Grab the shoe with red green white pattern from the table with the right arm and place it on the mat",
+    "Pick up the shoe with colorful stripes with the right arm from the table and place it on the mat",
+    "With the right arm, pick the shoe with open straps up from the table and put it on the mat",
+    "Retrieve the shoe with rounded and open form from the table and set it on the mat",
+    "Move the medium-sized brown shoe from the table to the mat in one fluid motion",
+    "Lift the shoe with rounded and open form using the right arm from the table and place it on the mat",
+    "Move the shoe with rounded and open form from the table to the mat",
+    "Pick up the plastic brown shoe from the table and set it on the mat",
+    "Take the the shoe with open straps off the table and put it on the mat",
+    "Grab the shoe with red green white pattern from the table and place it on the mat",
+    "Pick the shoe with red green white pattern up from the table and put it on the mat",
+    "Grab the small brown footwear replica using the right arm and drop it on the mat",
+    "Take the rounded shoe with visible straps from the table and carefully drop it on the mat",
+    "Pick up the light brown shoe with the right arm, move it from the table, and set it on the mat",
+    "Pick the shoe with colorful stripes up from the table and drop it directly on the mat",
+    "Remove the shoe with open straps from the table and lay it on the mat",
+    "Lift the medium-sized brown shoe from the table and place it carefully on the mat",
+    "Using the right arm, lift the shoe with textured bottom from the table and place it onto the mat",
+    "Lift the the light brown shoe with white sole from the table using the right arm and place it on the mat",
+    "With the right arm, grab the medium-sized brown shoe from the table and place it on the mat",
+    "Grab the shoe with colorful stripes using the right arm, move it from the table to the mat",
+    "Grab the the shoe with colorful stripes on the table and move it to the mat",
+    "Use the right arm to grab the shoe with open straps and transfer it to the mat",
+    "Move the shoe with rounded and open form from the table and place it down on the mat",
+    "Transfer the shoe with textured bottom from the table to the mat",
+    "Pick up the brown shoe with strap loops and move it to the mat",
+    "Use the right arm to lift the rounded shoe with visible straps from the table and set it on the mat",
+    "Use the right arm to pick up the shoe with rounded and open form from the table and drop it on the mat",
+    "Move the shoe with rounded and open form from the table to the mat",
+    "Using the right arm, grasp the small brown footwear replica from the table and place it onto the mat"
+  ],
+  "unseen": [
+    "Use the right arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Use the right arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Use the right arm to lift the smooth plastic shoe and drop it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Use the right arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Use the right arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Use the right arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Use the right arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Use the right arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Use the right arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Use the right arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Use the right arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Use the right arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Use the right arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Use the right arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Use the right arm to lift the smooth plastic shoe and drop it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Use the right arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Use the right arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Use the right arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Use the right arm to lift the smooth plastic shoe and drop it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Use the right arm to grab the brown shoe with green red stripes from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode23.json b/place_shoe/demo_clean/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..784761347709159c1dcc330cefb8467d84e109af
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the medium red shoe from the table to the mat",
+    "Use the left arm to grab the the red shoe rounded at front and put it on the mat",
+    "Use the left arm to pick the red shoe with white sole off the table and move it onto the mat",
+    "Grab the the smooth-textured red shoe on the table and move it to the mat",
+    "Move the white bottom sports shoe from the table to the mat in one fluid motion",
+    "Grab the red shoe with white sole using the left arm, move it from the table to the mat",
+    "Take the white bottom sports shoe from the table and place it on the mat",
+    "Pick up the red shoe with white sole from the table and set it on the mat",
+    "Take the the red sneaker from the table using the left arm and drop it on the mat",
+    "Take the the red sneaker off the table and put it on the mat",
+    "Pick up the red shoe rounded at front with the left arm, move it from the table, and set it on the mat",
+    "Transfer the footwear with red top white sole from the table to the mat",
+    "With the left arm, grab the shoe with flat rubber sole from the table and place it on the mat",
+    "Use the left arm to grab the red sneaker from the table and move it to the mat",
+    "Take the white bottom sports shoe from the table and carefully drop it on the mat",
+    "Lift the the footwear with red top white sole from the table using the left arm and place it on the mat",
+    "Move the single red shoe from the table to the mat",
+    "Using the left arm, lift the red sneaker from the table and place it onto the mat",
+    "Grab the white bottom sports shoe from the table and place it on the mat",
+    "Lift the smooth-textured red shoe off the table using the left arm and drop it on the mat",
+    "Use the left arm to lift the the single red shoe from the table and set it on the mat",
+    "Pick the the shoe with flat rubber sole from the table and place it gently on the mat",
+    "Lift the lace-up red sports shoe from the table and gently place it onto the mat",
+    "Grab the medium red shoe using the left arm and drop it on the mat",
+    "Grab the white bottom sports shoe from the table with the left arm and place it on the mat",
+    "With the left arm, grab the white bottom sports shoe off the table and place it onto the mat",
+    "Pick up the red shoe with white sole and move it to the mat",
+    "Lift the the single red shoe from the table and place it onto the mat",
+    "Take the sports shoe and put it on the mat",
+    "Use the left arm to pick the medium red shoe and position it on the mat",
+    "Use the left arm to grab the the shoe with flat rubber sole from the table and set it on the mat",
+    "Lift the sports shoe from the table and place it carefully on the mat",
+    "Pick up the shoe with flat rubber sole with the left arm from the table and place it on the mat",
+    "Remove the red shoe with white sole from the table and lay it on the mat",
+    "Use the left arm to grab the single red shoe and transfer it to the mat",
+    "Lift the white bottom sports shoe and place it on the mat",
+    "Lift the footwear with red top white sole using the left arm from the table and place it on the mat",
+    "Pick the lace-up red sports shoe up from the table and drop it directly on the mat",
+    "Use the left arm to pick up the footwear with red top white sole from the table and drop it on the mat",
+    "Use the left arm to lift the white bottom sports shoe from the table and set it on the mat",
+    "Use the left arm to lift the sports shoe from the table and set it on the mat",
+    "Take the red shoe with white sole from the table and position it on the mat",
+    "Retrieve the single red shoe from the table and set it on the mat",
+    "Take the lace-up red sports shoe from the table and put it on the mat",
+    "Take the sports shoe with the left arm and place it carefully on the mat",
+    "Pick the the footwear with red top white sole off the table and position it on the mat",
+    "Move the single red shoe from the table and place it down on the mat",
+    "Pick the white bottom sports shoe up from the table and put it on the mat",
+    "Using the left arm, grasp the lace-up red sports shoe from the table and place it onto the mat",
+    "With the left arm, pick the red sneaker up from the table and put it on the mat",
+    "Move the lace-up red sports shoe from the table to the mat",
+    "Use the left arm to grab the the shoe with flat rubber sole and put it on the mat",
+    "Use the left arm to pick the red shoe rounded at front off the table and move it onto the mat",
+    "Grab the the medium red shoe on the table and move it to the mat",
+    "Move the smooth-textured red shoe from the table to the mat in one fluid motion",
+    "Grab the red sneaker using the left arm, move it from the table to the mat",
+    "Take the white bottom sports shoe from the table and place it on the mat",
+    "Pick up the smooth-textured red shoe from the table and set it on the mat",
+    "Take the the sports shoe from the table using the left arm and drop it on the mat",
+    "Take the the footwear with red top white sole off the table and put it on the mat",
+    "Pick up the single red shoe with the left arm, move it from the table, and set it on the mat",
+    "Transfer the single red shoe from the table to the mat",
+    "With the left arm, grab the smooth-textured red shoe from the table and place it on the mat",
+    "Use the left arm to grab the grooved sole red shoe from the table and move it to the mat",
+    "Take the grooved sole red shoe from the table and carefully drop it on the mat",
+    "Lift the the medium red shoe from the table using the left arm and place it on the mat",
+    "Move the medium red shoe from the table to the mat",
+    "Using the left arm, lift the red shoe rounded at front from the table and place it onto the mat",
+    "Grab the shoe with flat rubber sole from the table and place it on the mat",
+    "Lift the white bottom sports shoe off the table using the left arm and drop it on the mat",
+    "Use the left arm to lift the the lace-up red sports shoe from the table and set it on the mat",
+    "Pick the the shoe with flat rubber sole from the table and place it gently on the mat",
+    "Lift the single red shoe from the table and gently place it onto the mat",
+    "Grab the grooved sole red shoe using the left arm and drop it on the mat",
+    "Grab the medium red shoe from the table with the left arm and place it on the mat",
+    "With the left arm, grab the shoe with flat rubber sole off the table and place it onto the mat",
+    "Pick up the white bottom sports shoe and move it to the mat",
+    "Lift the the single red shoe from the table and place it onto the mat",
+    "Take the white bottom sports shoe and put it on the mat",
+    "Use the left arm to pick the shoe with flat rubber sole and position it on the mat",
+    "Use the left arm to grab the the shoe with flat rubber sole from the table and set it on the mat",
+    "Lift the white bottom sports shoe from the table and place it carefully on the mat",
+    "Pick up the red shoe with white sole with the left arm from the table and place it on the mat",
+    "Remove the white bottom sports shoe from the table and lay it on the mat",
+    "Use the left arm to grab the red shoe rounded at front and transfer it to the mat",
+    "Lift the red shoe rounded at front and place it on the mat",
+    "Lift the smooth-textured red shoe using the left arm from the table and place it on the mat",
+    "Pick the red shoe with white sole up from the table and drop it directly on the mat",
+    "Use the left arm to pick up the single red shoe from the table and drop it on the mat",
+    "Use the left arm to lift the sports shoe from the table and set it on the mat",
+    "Use the left arm to lift the medium red shoe from the table and set it on the mat",
+    "Take the red shoe with white sole from the table and position it on the mat",
+    "Retrieve the red shoe with white sole from the table and set it on the mat",
+    "Take the sports shoe from the table and put it on the mat",
+    "Take the red shoe with white sole with the left arm and place it carefully on the mat",
+    "Pick the the single red shoe off the table and position it on the mat",
+    "Move the lace-up red sports shoe from the table and place it down on the mat",
+    "Pick the red shoe with white sole up from the table and put it on the mat",
+    "Using the left arm, grasp the sports shoe from the table and place it onto the mat",
+    "With the left arm, pick the red shoe rounded at front up from the table and put it on the mat"
+  ],
+  "unseen": [
+    "Grab the the red shoe from the table and set it on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Use the left arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Use the left arm to lift the red sneaker medium sized and drop it on the mat",
+    "Pick up the the red sneaker medium sized from the table and place it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Use the left arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Use the left arm to lift the red sneaker medium sized and drop it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Use the left arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Use the left arm to lift the red sneaker medium sized and drop it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Use the left arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Use the left arm to lift the red sneaker medium sized and drop it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Use the left arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Use the left arm to lift the red shoe and drop it on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Grab the the synthetic shoe upper from the table and set it on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Use the left arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Use the left arm to lift the red sneaker medium sized and drop it on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Use the left arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Use the left arm to lift the red shoe and drop it on the mat",
+    "Pick up the the red sneaker medium sized from the table and place it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Use the left arm to grab the red shoe from the table and place it on the mat",
+    "Grab the red shoe and set it on the mat",
+    "Use the left arm to lift the red shoe and drop it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Use the left arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Use the left arm to lift the red sneaker medium sized and drop it on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Use the left arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the red shoe and set it on the mat",
+    "Use the left arm to lift the synthetic shoe upper and drop it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode24.json b/place_shoe/demo_clean/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c1ac0909335fdf03320adaa19b1363d5281ce60
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, grab the shoe with colorful stripes off the table and place it onto the mat",
+    "Grab the the light brown shoe on the table and move it to the mat",
+    "Use the left arm to grab the the light brown shoe and put it on the mat",
+    "Remove the rounded shoe with visible straps from the table and lay it on the mat",
+    "Take the rounded shoe with visible straps and put it on the mat",
+    "Use the left arm to grab the the shoe with rounded and open form from the table and set it on the mat",
+    "Move the brown shoe with strap loops from the table to the mat in one fluid motion",
+    "Pick up the rounded shoe with visible straps from the table and set it on the mat",
+    "Take the small brown footwear replica from the table and place it on the mat",
+    "Retrieve the shoe with textured bottom from the table and set it on the mat",
+    "Take the rounded shoe with visible straps from the table and position it on the mat",
+    "Pick up the light brown shoe with white sole with the left arm from the table and place it on the mat",
+    "Use the left arm to lift the plastic brown shoe from the table and set it on the mat",
+    "Grab the shoe with textured bottom using the left arm and drop it on the mat",
+    "With the left arm, grab the small brown footwear replica from the table and place it on the mat",
+    "Lift the the brown shoe with strap loops from the table using the left arm and place it on the mat",
+    "Take the shoe with rounded and open form from the table and carefully drop it on the mat",
+    "Grab the shoe with rounded and open form from the table and place it on the mat",
+    "Pick the the medium-sized brown shoe from the table and place it gently on the mat",
+    "With the left arm, pick the light brown shoe up from the table and put it on the mat",
+    "Pick the rounded shoe with visible straps up from the table and put it on the mat",
+    "Using the left arm, grasp the light brown shoe with white sole from the table and place it onto the mat",
+    "Take the shoe with rounded and open form from the table and put it on the mat",
+    "Use the left arm to pick the plastic brown shoe off the table and move it onto the mat",
+    "Use the left arm to pick the shoe with open straps and position it on the mat",
+    "Use the left arm to pick up the light brown shoe from the table and drop it on the mat",
+    "Lift the shoe with textured bottom using the left arm from the table and place it on the mat",
+    "Lift the light brown shoe with white sole from the table and gently place it onto the mat",
+    "Lift the the rounded shoe with visible straps from the table and place it onto the mat",
+    "Use the left arm to grab the brown shoe with strap loops from the table and move it to the mat",
+    "Take the medium-sized brown shoe with the left arm and place it carefully on the mat",
+    "Use the left arm to grab the shoe with textured bottom and transfer it to the mat",
+    "Use the left arm to lift the shoe with colorful stripes from the table and set it on the mat",
+    "Using the left arm, lift the brown shoe with strap loops from the table and place it onto the mat",
+    "Pick the brown shoe with strap loops up from the table and drop it directly on the mat",
+    "Use the left arm to lift the the shoe with colorful stripes from the table and set it on the mat",
+    "Move the medium-sized brown shoe from the table and place it down on the mat",
+    "Lift the plastic brown shoe from the table and place it carefully on the mat",
+    "Lift the light brown shoe and place it on the mat",
+    "Pick up the plastic brown shoe with the left arm, move it from the table, and set it on the mat",
+    "Take the the medium-sized brown shoe from the table using the left arm and drop it on the mat",
+    "Pick the the brown shoe with strap loops off the table and position it on the mat",
+    "Lift the shoe with red green white pattern off the table using the left arm and drop it on the mat",
+    "Move the shoe with open straps from the table to the mat",
+    "Take the the small brown footwear replica off the table and put it on the mat",
+    "Transfer the light brown shoe from the table to the mat",
+    "Move the shoe with colorful stripes from the table to the mat",
+    "Grab the light brown shoe from the table with the left arm and place it on the mat",
+    "Pick up the shoe with open straps and move it to the mat",
+    "Grab the shoe with open straps using the left arm, move it from the table to the mat",
+    "With the left arm, grab the plastic brown shoe off the table and place it onto the mat",
+    "Grab the the shoe with rounded and open form on the table and move it to the mat",
+    "Use the left arm to grab the the shoe with colorful stripes and put it on the mat",
+    "Remove the light brown shoe with white sole from the table and lay it on the mat",
+    "Take the light brown shoe with white sole and put it on the mat",
+    "Use the left arm to grab the the shoe with red green white pattern from the table and set it on the mat",
+    "Move the light brown shoe with white sole from the table to the mat in one fluid motion",
+    "Pick up the brown shoe with strap loops from the table and set it on the mat",
+    "Take the shoe with colorful stripes from the table and place it on the mat",
+    "Retrieve the shoe with colorful stripes from the table and set it on the mat",
+    "Take the shoe with rounded and open form from the table and position it on the mat",
+    "Pick up the light brown shoe with white sole with the left arm from the table and place it on the mat",
+    "Use the left arm to lift the brown shoe with strap loops from the table and set it on the mat",
+    "Grab the shoe with textured bottom using the left arm and drop it on the mat",
+    "With the left arm, grab the light brown shoe from the table and place it on the mat",
+    "Lift the the light brown shoe from the table using the left arm and place it on the mat",
+    "Take the brown shoe with strap loops from the table and carefully drop it on the mat",
+    "Grab the shoe with colorful stripes from the table and place it on the mat",
+    "Pick the the shoe with colorful stripes from the table and place it gently on the mat",
+    "With the left arm, pick the plastic brown shoe up from the table and put it on the mat",
+    "Pick the small brown footwear replica up from the table and put it on the mat",
+    "Using the left arm, grasp the shoe with colorful stripes from the table and place it onto the mat",
+    "Take the brown shoe with strap loops from the table and put it on the mat",
+    "Use the left arm to pick the brown shoe with strap loops off the table and move it onto the mat",
+    "Use the left arm to pick the brown shoe with strap loops and position it on the mat",
+    "Use the left arm to pick up the plastic brown shoe from the table and drop it on the mat",
+    "Lift the shoe with open straps using the left arm from the table and place it on the mat",
+    "Lift the shoe with rounded and open form from the table and gently place it onto the mat",
+    "Lift the the shoe with rounded and open form from the table and place it onto the mat",
+    "Use the left arm to grab the shoe with red green white pattern from the table and move it to the mat",
+    "Take the rounded shoe with visible straps with the left arm and place it carefully on the mat",
+    "Use the left arm to grab the rounded shoe with visible straps and transfer it to the mat",
+    "Use the left arm to lift the rounded shoe with visible straps from the table and set it on the mat",
+    "Using the left arm, lift the rounded shoe with visible straps from the table and place it onto the mat",
+    "Pick the shoe with red green white pattern up from the table and drop it directly on the mat",
+    "Use the left arm to lift the the shoe with colorful stripes from the table and set it on the mat",
+    "Move the small brown footwear replica from the table and place it down on the mat",
+    "Lift the medium-sized brown shoe from the table and place it carefully on the mat",
+    "Lift the shoe with colorful stripes and place it on the mat",
+    "Pick up the shoe with rounded and open form with the left arm, move it from the table, and set it on the mat",
+    "Take the the small brown footwear replica from the table using the left arm and drop it on the mat",
+    "Pick the the shoe with colorful stripes off the table and position it on the mat",
+    "Lift the shoe with colorful stripes off the table using the left arm and drop it on the mat",
+    "Move the shoe with textured bottom from the table to the mat",
+    "Take the the shoe with textured bottom off the table and put it on the mat",
+    "Transfer the medium-sized brown shoe from the table to the mat",
+    "Move the rounded shoe with visible straps from the table to the mat",
+    "Grab the shoe with textured bottom from the table with the left arm and place it on the mat",
+    "Pick up the shoe with textured bottom and move it to the mat",
+    "Grab the rounded shoe with visible straps using the left arm, move it from the table to the mat"
+  ],
+  "unseen": [
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the left arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Use the left arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the left arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Use the left arm to lift the smooth plastic shoe and drop it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Use the left arm to lift the smooth plastic shoe and drop it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the left arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Use the left arm to lift the smooth plastic shoe and drop it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Use the left arm to lift the smooth plastic shoe and drop it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Use the left arm to lift the smooth plastic shoe and drop it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Use the left arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the left arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Use the left arm to lift the smooth plastic shoe and drop it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Use the left arm to lift the smooth plastic shoe and drop it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Use the left arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode25.json b/place_shoe/demo_clean/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe50843955b5ad8f109243141176759b2c817c02
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the shoe made of rubber and leather with the right arm and place it carefully on the mat",
+    "Use the right arm to grab the the wearable foot protector shoe from the table and set it on the mat",
+    "With the right arm, grab the shoe with smooth top and grippy sole from the table and place it on the mat",
+    "Use the right arm to grab the the shoe made of rubber and leather and put it on the mat",
+    "Take the average adult-sized shoe and put it on the mat",
+    "Transfer the black shoe with white accents from the table to the mat",
+    "Lift the synthetic leather shoe off the table using the right arm and drop it on the mat",
+    "Lift the wearable foot protector shoe and place it on the mat",
+    "Take the wearable foot protector shoe from the table and place it on the mat",
+    "Grab the shoe with curved sole using the right arm and drop it on the mat",
+    "Use the right arm to lift the rubber-soled shoe with lace-up top from the table and set it on the mat",
+    "Lift the the shoe with curved sole from the table and place it onto the mat",
+    "Take the the dual-tone shoe with sleek design from the table using the right arm and drop it on the mat",
+    "Pick up the shoe with smooth top and grippy sole and move it to the mat",
+    "Remove the rubber-soled shoe with lace-up top from the table and lay it on the mat",
+    "Lift the shoe made of rubber and leather from the table and place it carefully on the mat",
+    "Use the right arm to pick up the shoe with curved sole from the table and drop it on the mat",
+    "Grab the medium-sized black and white shoe from the table and place it on the mat",
+    "Grab the dual-tone shoe with sleek design using the right arm, move it from the table to the mat",
+    "Grab the black and white shoe from the table with the right arm and place it on the mat",
+    "Pick up the black shoe with white accents with the right arm from the table and place it on the mat",
+    "Use the right arm to grab the black shoe with white accents and transfer it to the mat",
+    "Move the shoe made of rubber and leather from the table to the mat",
+    "Lift the dual-tone shoe with sleek design from the table and gently place it onto the mat",
+    "Use the right arm to lift the black and white shoe from the table and set it on the mat",
+    "Move the shoe made of rubber and leather from the table to the mat",
+    "Using the right arm, lift the dual-tone shoe with sleek design from the table and place it onto the mat",
+    "With the right arm, pick the synthetic leather shoe up from the table and put it on the mat",
+    "Pick up the shoe with smooth top and grippy sole with the right arm, move it from the table, and set it on the mat",
+    "Take the wearable foot protector shoe from the table and position it on the mat",
+    "Move the shoe made of rubber and leather from the table and place it down on the mat",
+    "Pick the the comfortable shoe for walking off the table and position it on the mat",
+    "Take the the comfortable shoe for walking off the table and put it on the mat",
+    "Use the right arm to pick the shoe with smooth top and grippy sole off the table and move it onto the mat",
+    "Retrieve the black shoe with white accents from the table and set it on the mat",
+    "Lift the the shoe made of rubber and leather from the table using the right arm and place it on the mat",
+    "Pick the shoe with smooth top and grippy sole up from the table and put it on the mat",
+    "Pick up the black and white shoe from the table and set it on the mat",
+    "Move the medium-sized black and white shoe from the table to the mat in one fluid motion",
+    "With the right arm, grab the medium-sized black and white shoe off the table and place it onto the mat",
+    "Take the average adult-sized shoe from the table and put it on the mat",
+    "Use the right arm to grab the wearable foot protector shoe from the table and move it to the mat",
+    "Grab the the wearable foot protector shoe on the table and move it to the mat",
+    "Pick the the shoe with curved sole from the table and place it gently on the mat",
+    "Pick the comfortable shoe for walking up from the table and drop it directly on the mat",
+    "Use the right arm to pick the dual-tone shoe with sleek design and position it on the mat",
+    "Use the right arm to lift the the black shoe with white accents from the table and set it on the mat",
+    "Take the shoe with curved sole from the table and carefully drop it on the mat",
+    "Lift the average adult-sized shoe using the right arm from the table and place it on the mat",
+    "Using the right arm, grasp the shoe made of rubber and leather from the table and place it onto the mat",
+    "Take the synthetic leather shoe with the right arm and place it carefully on the mat",
+    "Use the right arm to grab the the rubber-soled shoe with lace-up top from the table and set it on the mat",
+    "With the right arm, grab the synthetic leather shoe from the table and place it on the mat",
+    "Use the right arm to grab the the synthetic leather shoe and put it on the mat",
+    "Take the rubber-soled shoe with lace-up top and put it on the mat",
+    "Transfer the shoe with curved sole from the table to the mat",
+    "Lift the rubber-soled shoe with lace-up top off the table using the right arm and drop it on the mat",
+    "Lift the black and white shoe and place it on the mat",
+    "Take the rubber-soled shoe with lace-up top from the table and place it on the mat",
+    "Grab the comfortable shoe for walking using the right arm and drop it on the mat",
+    "Use the right arm to lift the average adult-sized shoe from the table and set it on the mat",
+    "Lift the the shoe with curved sole from the table and place it onto the mat",
+    "Take the the dual-tone shoe with sleek design from the table using the right arm and drop it on the mat",
+    "Pick up the dual-tone shoe with sleek design and move it to the mat",
+    "Remove the dual-tone shoe with sleek design from the table and lay it on the mat",
+    "Lift the black and white shoe from the table and place it carefully on the mat",
+    "Use the right arm to pick up the shoe with smooth top and grippy sole from the table and drop it on the mat",
+    "Grab the shoe with curved sole from the table and place it on the mat",
+    "Grab the comfortable shoe for walking using the right arm, move it from the table to the mat",
+    "Grab the shoe with smooth top and grippy sole from the table with the right arm and place it on the mat",
+    "Pick up the black shoe with white accents with the right arm from the table and place it on the mat",
+    "Use the right arm to grab the dual-tone shoe with sleek design and transfer it to the mat",
+    "Move the average adult-sized shoe from the table to the mat",
+    "Lift the rubber-soled shoe with lace-up top from the table and gently place it onto the mat",
+    "Use the right arm to lift the shoe with smooth top and grippy sole from the table and set it on the mat",
+    "Move the dual-tone shoe with sleek design from the table to the mat",
+    "Using the right arm, lift the shoe made of rubber and leather from the table and place it onto the mat",
+    "With the right arm, pick the wearable foot protector shoe up from the table and put it on the mat",
+    "Pick up the comfortable shoe for walking with the right arm, move it from the table, and set it on the mat",
+    "Take the black shoe with white accents from the table and position it on the mat",
+    "Move the rubber-soled shoe with lace-up top from the table and place it down on the mat",
+    "Pick the the black shoe with white accents off the table and position it on the mat",
+    "Take the the shoe made of rubber and leather off the table and put it on the mat",
+    "Use the right arm to pick the shoe with smooth top and grippy sole off the table and move it onto the mat",
+    "Retrieve the shoe made of rubber and leather from the table and set it on the mat",
+    "Lift the the comfortable shoe for walking from the table using the right arm and place it on the mat",
+    "Pick the dual-tone shoe with sleek design up from the table and put it on the mat",
+    "Pick up the dual-tone shoe with sleek design from the table and set it on the mat",
+    "Move the shoe made of rubber and leather from the table to the mat in one fluid motion",
+    "With the right arm, grab the dual-tone shoe with sleek design off the table and place it onto the mat",
+    "Take the synthetic leather shoe from the table and put it on the mat",
+    "Use the right arm to grab the black shoe with white accents from the table and move it to the mat",
+    "Grab the the black shoe with white accents on the table and move it to the mat",
+    "Pick the the rubber-soled shoe with lace-up top from the table and place it gently on the mat",
+    "Pick the shoe with smooth top and grippy sole up from the table and drop it directly on the mat",
+    "Use the right arm to pick the shoe with smooth top and grippy sole and position it on the mat",
+    "Use the right arm to lift the the shoe with smooth top and grippy sole from the table and set it on the mat",
+    "Take the dual-tone shoe with sleek design from the table and carefully drop it on the mat",
+    "Lift the synthetic leather shoe using the right arm from the table and place it on the mat",
+    "Using the right arm, grasp the comfortable shoe for walking from the table and place it onto the mat"
+  ],
+  "unseen": [
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Use the right arm to lift the black shoe with white midsole and drop it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Use the right arm to lift the black shoe with white midsole and drop it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Use the right arm to lift the black shoe with white midsole and drop it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Use the right arm to lift the black shoe with white midsole and drop it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode26.json b/place_shoe/demo_clean/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..032d4455899ac6e91d3a83441ecbb6a4f1d80cc8
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the shoe for walking from the table to the mat",
+    "Lift the medium white shoe and place it on the mat",
+    "Lift the the shoe with lace holes from the table and place it onto the mat",
+    "Use the right arm to grab the the smooth white shoe from the table and set it on the mat",
+    "Use the right arm to grab the shoe with lace holes and transfer it to the mat",
+    "Take the rubber sole shoe from the table and position it on the mat",
+    "Take the shoe with patterned bottom from the table and put it on the mat",
+    "Grab the rubber sole shoe using the right arm and drop it on the mat",
+    "Grab the shoe with lace holes using the right arm, move it from the table to the mat",
+    "Pick up the shoe with textured sole with the right arm from the table and place it on the mat",
+    "Using the right arm, lift the shoe with curved sole from the table and place it onto the mat",
+    "Pick the synthetic leather shoe up from the table and put it on the mat",
+    "Pick the the white shoe with rubber sole off the table and position it on the mat",
+    "Take the shoe with curved sole with the right arm and place it carefully on the mat",
+    "Use the right arm to pick up the shoe with textured sole from the table and drop it on the mat",
+    "Grab the white shoe with rubber sole from the table and place it on the mat",
+    "Pick the the white sneaker shoe from the table and place it gently on the mat",
+    "With the right arm, grab the shoe with patterned bottom off the table and place it onto the mat",
+    "Lift the white sneaker shoe using the right arm from the table and place it on the mat",
+    "Use the right arm to lift the shoe for walking from the table and set it on the mat",
+    "Use the right arm to lift the shoe for walking from the table and set it on the mat",
+    "Using the right arm, grasp the synthetic leather shoe from the table and place it onto the mat",
+    "Move the synthetic leather shoe from the table and place it down on the mat",
+    "Transfer the shoe with textured sole from the table to the mat",
+    "Use the right arm to lift the the synthetic leather shoe from the table and set it on the mat",
+    "Retrieve the synthetic leather shoe from the table and set it on the mat",
+    "Use the right arm to grab the shoe with lace holes from the table and move it to the mat",
+    "Use the right arm to pick the shoe with patterned bottom and position it on the mat",
+    "Grab the the medium white shoe on the table and move it to the mat",
+    "Grab the shoe with textured sole from the table with the right arm and place it on the mat",
+    "Lift the shoe with lace holes off the table using the right arm and drop it on the mat",
+    "Move the shoe with lace holes from the table to the mat in one fluid motion",
+    "Take the rubber sole shoe from the table and carefully drop it on the mat",
+    "Take the synthetic leather shoe from the table and place it on the mat",
+    "Take the the shoe for walking off the table and put it on the mat",
+    "With the right arm, pick the shoe with patterned bottom up from the table and put it on the mat",
+    "Take the the shoe with patterned bottom from the table using the right arm and drop it on the mat",
+    "With the right arm, grab the white shoe with rubber sole from the table and place it on the mat",
+    "Lift the shoe for walking from the table and place it carefully on the mat",
+    "Pick up the medium white shoe from the table and set it on the mat",
+    "Take the shoe with lace holes and put it on the mat",
+    "Pick up the shoe with textured sole and move it to the mat",
+    "Use the right arm to grab the the rubber sole shoe and put it on the mat",
+    "Pick up the white sneaker shoe with the right arm, move it from the table, and set it on the mat",
+    "Lift the the shoe with patterned bottom from the table using the right arm and place it on the mat",
+    "Remove the synthetic leather shoe from the table and lay it on the mat",
+    "Pick the smooth white shoe up from the table and drop it directly on the mat",
+    "Lift the smooth white shoe from the table and gently place it onto the mat",
+    "Use the right arm to pick the shoe with textured sole off the table and move it onto the mat",
+    "Move the rubber sole shoe from the table to the mat",
+    "Move the medium white shoe from the table to the mat",
+    "Lift the shoe with patterned bottom and place it on the mat",
+    "Lift the the shoe with curved sole from the table and place it onto the mat",
+    "Use the right arm to grab the the rubber sole shoe from the table and set it on the mat",
+    "Use the right arm to grab the medium-sized rounded white shoe and transfer it to the mat",
+    "Take the shoe with patterned bottom from the table and position it on the mat",
+    "Take the white sneaker shoe from the table and put it on the mat",
+    "Grab the shoe with lace holes using the right arm and drop it on the mat",
+    "Grab the medium-sized rounded white shoe using the right arm, move it from the table to the mat",
+    "Pick up the shoe with lace holes with the right arm from the table and place it on the mat",
+    "Using the right arm, lift the white shoe with rubber sole from the table and place it onto the mat",
+    "Pick the synthetic leather shoe up from the table and put it on the mat",
+    "Pick the the synthetic leather shoe off the table and position it on the mat",
+    "Take the shoe with textured sole with the right arm and place it carefully on the mat",
+    "Use the right arm to pick up the white sneaker shoe from the table and drop it on the mat",
+    "Grab the shoe with patterned bottom from the table and place it on the mat",
+    "Pick the the shoe with curved sole from the table and place it gently on the mat",
+    "With the right arm, grab the shoe with patterned bottom off the table and place it onto the mat",
+    "Lift the rubber sole shoe using the right arm from the table and place it on the mat",
+    "Use the right arm to lift the shoe with patterned bottom from the table and set it on the mat",
+    "Use the right arm to lift the medium-sized rounded white shoe from the table and set it on the mat",
+    "Using the right arm, grasp the shoe with patterned bottom from the table and place it onto the mat",
+    "Move the smooth white shoe from the table and place it down on the mat",
+    "Transfer the white sneaker shoe from the table to the mat",
+    "Use the right arm to lift the the white shoe with rubber sole from the table and set it on the mat",
+    "Retrieve the medium-sized rounded white shoe from the table and set it on the mat",
+    "Use the right arm to grab the shoe with textured sole from the table and move it to the mat",
+    "Use the right arm to pick the medium-sized rounded white shoe and position it on the mat",
+    "Grab the the smooth white shoe on the table and move it to the mat",
+    "Grab the white shoe with rubber sole from the table with the right arm and place it on the mat",
+    "Lift the rubber sole shoe off the table using the right arm and drop it on the mat",
+    "Move the shoe with textured sole from the table to the mat in one fluid motion",
+    "Take the medium white shoe from the table and carefully drop it on the mat",
+    "Take the smooth white shoe from the table and place it on the mat",
+    "Take the the smooth white shoe off the table and put it on the mat",
+    "With the right arm, pick the shoe with patterned bottom up from the table and put it on the mat",
+    "Take the the medium white shoe from the table using the right arm and drop it on the mat",
+    "With the right arm, grab the rubber sole shoe from the table and place it on the mat",
+    "Lift the white sneaker shoe from the table and place it carefully on the mat",
+    "Pick up the medium-sized rounded white shoe from the table and set it on the mat",
+    "Take the shoe with patterned bottom and put it on the mat",
+    "Pick up the shoe with patterned bottom and move it to the mat",
+    "Use the right arm to grab the the white sneaker shoe and put it on the mat",
+    "Pick up the rubber sole shoe with the right arm, move it from the table, and set it on the mat",
+    "Lift the the white shoe with rubber sole from the table using the right arm and place it on the mat",
+    "Remove the synthetic leather shoe from the table and lay it on the mat",
+    "Pick the shoe with lace holes up from the table and drop it directly on the mat",
+    "Lift the shoe for walking from the table and gently place it onto the mat",
+    "Use the right arm to pick the white shoe with rubber sole off the table and move it onto the mat",
+    "Move the white sneaker shoe from the table to the mat"
+  ],
+  "unseen": [
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode27.json b/place_shoe/demo_clean/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd16d5a72eef1ac36ada13c406caab3183837370
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the the shoe with lace-up front from the table and set it on the mat",
+    "Grab the shoe with black back detail using the right arm, move it from the table to the mat",
+    "Pick up the shoe with black back detail from the table and set it on the mat",
+    "Take the white and black combination shoe with the right arm and place it carefully on the mat",
+    "Take the the white shoe from the table using the right arm and drop it on the mat",
+    "Use the right arm to pick the white shoe off the table and move it onto the mat",
+    "Grab the white shoe with rounded toe using the right arm and drop it on the mat",
+    "Take the soft rubber-soled white shoe from the table and position it on the mat",
+    "Lift the shoe with lace-up front and place it on the mat",
+    "Lift the shoe with black heel patch using the right arm from the table and place it on the mat",
+    "Take the sleek white walking shoe and put it on the mat",
+    "Pick the the shoe with black heel patch from the table and place it gently on the mat",
+    "Pick up the shoe with black back detail with the right arm from the table and place it on the mat",
+    "Pick up the white and black combination shoe with the right arm, move it from the table, and set it on the mat",
+    "Use the right arm to pick up the sleek white walking shoe from the table and drop it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "With the right arm, grab the white shoe off the table and place it onto the mat",
+    "Retrieve the white shoe with rounded toe from the table and set it on the mat",
+    "Move the shoe for everyday walking from the table to the mat in one fluid motion",
+    "Pick the white shoe with curved sole up from the table and put it on the mat",
+    "Take the white shoe from the table and put it on the mat",
+    "Grab the shoe with black back detail from the table with the right arm and place it on the mat",
+    "Using the right arm, grasp the shoe with lace-up front from the table and place it onto the mat",
+    "Transfer the white and black combination shoe from the table to the mat",
+    "Take the shoe for everyday walking from the table and place it on the mat",
+    "Pick the the shoe for everyday walking off the table and position it on the mat",
+    "With the right arm, pick the shoe with lace-up front up from the table and put it on the mat",
+    "Use the right arm to grab the shoe with lace-up front from the table and move it to the mat",
+    "Remove the shoe with lace-up front from the table and lay it on the mat",
+    "Move the white shoe with curved sole from the table to the mat",
+    "Use the right arm to lift the the white shoe with curved sole from the table and set it on the mat",
+    "Grab the the white and black combination shoe on the table and move it to the mat",
+    "With the right arm, grab the sleek white walking shoe from the table and place it on the mat",
+    "Move the medium-sized casual shoe from the table to the mat",
+    "Lift the the shoe for everyday walking from the table and place it onto the mat",
+    "Use the right arm to pick the white shoe with rounded toe and position it on the mat",
+    "Lift the medium-sized casual shoe from the table and gently place it onto the mat",
+    "Take the the white shoe off the table and put it on the mat",
+    "Take the white shoe with curved sole from the table and carefully drop it on the mat",
+    "Using the right arm, lift the medium-sized casual shoe from the table and place it onto the mat",
+    "Pick up the soft rubber-soled white shoe and move it to the mat",
+    "Use the right arm to grab the shoe with black back detail and transfer it to the mat",
+    "Use the right arm to grab the the sleek white walking shoe and put it on the mat",
+    "Move the sleek white walking shoe from the table and place it down on the mat",
+    "Use the right arm to lift the shoe for everyday walking from the table and set it on the mat",
+    "Lift the soft rubber-soled white shoe from the table and place it carefully on the mat",
+    "Lift the the white shoe with rounded toe from the table using the right arm and place it on the mat",
+    "Lift the white and black combination shoe off the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the synthetic leather white shoe from the table and set it on the mat",
+    "Pick the white shoe up from the table and drop it directly on the mat",
+    "Use the right arm to grab the the medium-sized casual shoe from the table and set it on the mat",
+    "Grab the shoe with black heel patch using the right arm, move it from the table to the mat",
+    "Pick up the shoe with lace-up front from the table and set it on the mat",
+    "Take the soft rubber-soled white shoe with the right arm and place it carefully on the mat",
+    "Take the the shoe with black back detail from the table using the right arm and drop it on the mat",
+    "Use the right arm to pick the shoe with black back detail off the table and move it onto the mat",
+    "Grab the medium-sized casual shoe using the right arm and drop it on the mat",
+    "Take the synthetic leather white shoe from the table and position it on the mat",
+    "Lift the medium-sized casual shoe and place it on the mat",
+    "Lift the white shoe with curved sole using the right arm from the table and place it on the mat",
+    "Take the shoe with black back detail and put it on the mat",
+    "Pick the the shoe for everyday walking from the table and place it gently on the mat",
+    "Pick up the synthetic leather white shoe with the right arm from the table and place it on the mat",
+    "Pick up the synthetic leather white shoe with the right arm, move it from the table, and set it on the mat",
+    "Use the right arm to pick up the white shoe from the table and drop it on the mat",
+    "Grab the shoe with black heel patch from the table and place it on the mat",
+    "With the right arm, grab the white and black combination shoe off the table and place it onto the mat",
+    "Retrieve the shoe with black heel patch from the table and set it on the mat",
+    "Move the shoe with lace-up front from the table to the mat in one fluid motion",
+    "Pick the shoe with black back detail up from the table and put it on the mat",
+    "Take the shoe with black heel patch from the table and put it on the mat",
+    "Grab the shoe with lace-up front from the table with the right arm and place it on the mat",
+    "Using the right arm, grasp the shoe with black heel patch from the table and place it onto the mat",
+    "Transfer the medium-sized casual shoe from the table to the mat",
+    "Take the soft rubber-soled white shoe from the table and place it on the mat",
+    "Pick the the white shoe with rounded toe off the table and position it on the mat",
+    "With the right arm, pick the sleek white walking shoe up from the table and put it on the mat",
+    "Use the right arm to grab the shoe for everyday walking from the table and move it to the mat",
+    "Remove the soft rubber-soled white shoe from the table and lay it on the mat",
+    "Move the shoe for everyday walking from the table to the mat",
+    "Use the right arm to lift the the shoe with black back detail from the table and set it on the mat",
+    "Grab the the sleek white walking shoe on the table and move it to the mat",
+    "With the right arm, grab the shoe with black back detail from the table and place it on the mat",
+    "Move the shoe with black heel patch from the table to the mat",
+    "Lift the the soft rubber-soled white shoe from the table and place it onto the mat",
+    "Use the right arm to pick the shoe with black back detail and position it on the mat",
+    "Lift the white shoe with rounded toe from the table and gently place it onto the mat",
+    "Take the the shoe for everyday walking off the table and put it on the mat",
+    "Take the shoe with black heel patch from the table and carefully drop it on the mat",
+    "Using the right arm, lift the shoe with lace-up front from the table and place it onto the mat",
+    "Pick up the shoe with lace-up front and move it to the mat",
+    "Use the right arm to grab the sleek white walking shoe and transfer it to the mat",
+    "Use the right arm to grab the the white and black combination shoe and put it on the mat",
+    "Move the shoe with lace-up front from the table and place it down on the mat",
+    "Use the right arm to lift the shoe with black back detail from the table and set it on the mat",
+    "Lift the shoe with black heel patch from the table and place it carefully on the mat",
+    "Lift the the shoe with black heel patch from the table using the right arm and place it on the mat",
+    "Lift the soft rubber-soled white shoe off the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the synthetic leather white shoe from the table and set it on the mat",
+    "Pick the soft rubber-soled white shoe up from the table and drop it directly on the mat"
+  ],
+  "unseen": [
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode28.json b/place_shoe/demo_clean/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d719fb513ca935a15fc560d91bc8ccb996ffb66
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the smooth leather shoe from the table and move it to the mat",
+    "Move the dark brown leather shoe from the table to the mat",
+    "Pick the rounded front shoe up from the table and put it on the mat",
+    "Take the dark brown leather shoe from the table and place it on the mat",
+    "Use the right arm to pick up the shoe for walking with rubber grip from the table and drop it on the mat",
+    "Use the right arm to lift the the shoe for walking with rubber grip from the table and set it on the mat",
+    "Lift the the shoe for walking with rubber grip from the table using the right arm and place it on the mat",
+    "Use the right arm to lift the brown shoe from the table and set it on the mat",
+    "Take the dark brown leather shoe from the table and put it on the mat",
+    "Take the rounded tip leather shoe from the table and position it on the mat",
+    "Grab the rounded tip leather shoe using the right arm and drop it on the mat",
+    "Use the right arm to grab the the shoe with grooved bottom and put it on the mat",
+    "Using the right arm, grasp the medium-sized walking shoe from the table and place it onto the mat",
+    "Use the right arm to lift the shoe with grooved bottom from the table and set it on the mat",
+    "Pick the the shoe with thick rubber sole from the table and place it gently on the mat",
+    "Lift the brown shoe and place it on the mat",
+    "Lift the shoe with thick rubber sole from the table and gently place it onto the mat",
+    "With the right arm, grab the rounded front shoe off the table and place it onto the mat",
+    "Take the the dark shoe with grooves on sole off the table and put it on the mat",
+    "Pick up the dark brown leather shoe and move it to the mat",
+    "Pick the dark shoe with grooves on sole up from the table and drop it directly on the mat",
+    "Pick up the dark shoe with grooves on sole with the right arm, move it from the table, and set it on the mat",
+    "Grab the shoe with grooved bottom from the table and place it on the mat",
+    "Pick the the rounded tip leather shoe off the table and position it on the mat",
+    "Use the right arm to pick the smooth leather shoe off the table and move it onto the mat",
+    "Using the right arm, lift the dark shoe with grooves on sole from the table and place it onto the mat",
+    "Take the shoe with lace holes and put it on the mat",
+    "Move the shoe with thick rubber sole from the table to the mat",
+    "Pick up the dark shoe with grooves on sole from the table and set it on the mat",
+    "Lift the the shoe with lace holes from the table and place it onto the mat",
+    "Retrieve the brown shoe from the table and set it on the mat",
+    "Grab the dark brown leather shoe from the table with the right arm and place it on the mat",
+    "Grab the the brown shoe on the table and move it to the mat",
+    "Pick up the brown shoe with the right arm from the table and place it on the mat",
+    "Use the right arm to grab the rounded tip leather shoe and transfer it to the mat",
+    "Take the shoe for everyday wear from the table and carefully drop it on the mat",
+    "Use the right arm to grab the the shoe for everyday wear from the table and set it on the mat",
+    "Lift the shoe with thick rubber sole off the table using the right arm and drop it on the mat",
+    "With the right arm, grab the shoe with thick rubber sole from the table and place it on the mat",
+    "Move the medium-sized walking shoe from the table and place it down on the mat",
+    "Transfer the shoe with lace holes from the table to the mat",
+    "Use the right arm to pick the shoe with thick rubber sole and position it on the mat",
+    "Take the the dark shoe with grooves on sole from the table using the right arm and drop it on the mat",
+    "Lift the medium-sized walking shoe from the table and place it carefully on the mat",
+    "Take the smooth leather shoe with the right arm and place it carefully on the mat",
+    "Lift the shoe for walking with rubber grip using the right arm from the table and place it on the mat",
+    "Remove the medium-sized walking shoe from the table and lay it on the mat",
+    "Grab the smooth leather shoe using the right arm, move it from the table to the mat",
+    "With the right arm, pick the shoe with thick rubber sole up from the table and put it on the mat",
+    "Move the shoe for walking with rubber grip from the table to the mat in one fluid motion",
+    "Use the right arm to grab the shoe with lace holes from the table and move it to the mat",
+    "Move the shoe with thick rubber sole from the table to the mat",
+    "Pick the shoe for walking with rubber grip up from the table and put it on the mat",
+    "Take the rounded tip leather shoe from the table and place it on the mat",
+    "Use the right arm to pick up the shoe with grooved bottom from the table and drop it on the mat",
+    "Use the right arm to lift the the dark brown leather shoe from the table and set it on the mat",
+    "Lift the the medium-sized walking shoe from the table using the right arm and place it on the mat",
+    "Use the right arm to lift the dark shoe with grooves on sole from the table and set it on the mat",
+    "Take the smooth leather shoe from the table and put it on the mat",
+    "Take the rounded front shoe from the table and position it on the mat",
+    "Grab the shoe for everyday wear using the right arm and drop it on the mat",
+    "Use the right arm to grab the the smooth leather shoe and put it on the mat",
+    "Using the right arm, grasp the smooth leather shoe from the table and place it onto the mat",
+    "Use the right arm to lift the shoe for everyday wear from the table and set it on the mat",
+    "Pick the the shoe for everyday wear from the table and place it gently on the mat",
+    "Lift the rounded tip leather shoe and place it on the mat",
+    "Lift the rounded tip leather shoe from the table and gently place it onto the mat",
+    "With the right arm, grab the shoe with lace holes off the table and place it onto the mat",
+    "Take the the shoe for everyday wear off the table and put it on the mat",
+    "Pick up the shoe for everyday wear and move it to the mat",
+    "Pick the shoe for walking with rubber grip up from the table and drop it directly on the mat",
+    "Pick up the rounded front shoe with the right arm, move it from the table, and set it on the mat",
+    "Grab the shoe for walking with rubber grip from the table and place it on the mat",
+    "Pick the the rounded front shoe off the table and position it on the mat",
+    "Use the right arm to pick the shoe for everyday wear off the table and move it onto the mat",
+    "Using the right arm, lift the shoe with grooved bottom from the table and place it onto the mat",
+    "Take the rounded front shoe and put it on the mat",
+    "Move the dark shoe with grooves on sole from the table to the mat",
+    "Pick up the smooth leather shoe from the table and set it on the mat",
+    "Lift the the brown shoe from the table and place it onto the mat",
+    "Retrieve the rounded front shoe from the table and set it on the mat",
+    "Grab the dark shoe with grooves on sole from the table with the right arm and place it on the mat",
+    "Grab the the brown shoe on the table and move it to the mat",
+    "Pick up the medium-sized walking shoe with the right arm from the table and place it on the mat",
+    "Use the right arm to grab the rounded front shoe and transfer it to the mat",
+    "Take the shoe with thick rubber sole from the table and carefully drop it on the mat",
+    "Use the right arm to grab the the dark brown leather shoe from the table and set it on the mat",
+    "Lift the shoe with grooved bottom off the table using the right arm and drop it on the mat",
+    "With the right arm, grab the shoe with thick rubber sole from the table and place it on the mat",
+    "Move the shoe with grooved bottom from the table and place it down on the mat",
+    "Transfer the dark shoe with grooves on sole from the table to the mat",
+    "Use the right arm to pick the brown shoe and position it on the mat",
+    "Take the the shoe with thick rubber sole from the table using the right arm and drop it on the mat",
+    "Lift the dark brown leather shoe from the table and place it carefully on the mat",
+    "Take the shoe with thick rubber sole with the right arm and place it carefully on the mat",
+    "Lift the rounded tip leather shoe using the right arm from the table and place it on the mat",
+    "Remove the shoe with thick rubber sole from the table and lay it on the mat",
+    "Grab the shoe with grooved bottom using the right arm, move it from the table to the mat",
+    "With the right arm, pick the rounded tip leather shoe up from the table and put it on the mat",
+    "Move the smooth leather shoe from the table to the mat in one fluid motion"
+  ],
+  "unseen": [
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode29.json b/place_shoe/demo_clean/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..076fbce28861c034f4476709e681939ae4542f3f
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, pick the rubber sole shoe up from the table and put it on the mat",
+    "Lift the rubber sole shoe using the left arm from the table and place it on the mat",
+    "Take the shoe with patterned bottom from the table and carefully drop it on the mat",
+    "Pick up the smooth white shoe with the left arm from the table and place it on the mat",
+    "Retrieve the shoe with lace holes from the table and set it on the mat",
+    "Pick up the smooth white shoe with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to grab the the medium white shoe from the table and set it on the mat",
+    "Use the left arm to lift the shoe with lace holes from the table and set it on the mat",
+    "Lift the shoe with textured sole from the table and place it carefully on the mat",
+    "Take the white shoe with rubber sole with the left arm and place it carefully on the mat",
+    "Use the left arm to pick the shoe with patterned bottom off the table and move it onto the mat",
+    "Take the synthetic leather shoe from the table and place it on the mat",
+    "Take the the shoe with patterned bottom from the table using the left arm and drop it on the mat",
+    "Take the shoe for walking from the table and position it on the mat",
+    "Lift the the rubber sole shoe from the table and place it onto the mat",
+    "Grab the rubber sole shoe using the left arm, move it from the table to the mat",
+    "Remove the shoe with curved sole from the table and lay it on the mat",
+    "Use the left arm to lift the shoe for walking from the table and set it on the mat",
+    "Pick up the white sneaker shoe from the table and set it on the mat",
+    "Move the shoe with lace holes from the table to the mat",
+    "Grab the shoe with lace holes using the left arm and drop it on the mat",
+    "Move the shoe with lace holes from the table to the mat in one fluid motion",
+    "With the left arm, grab the white sneaker shoe off the table and place it onto the mat",
+    "Grab the the shoe with curved sole on the table and move it to the mat",
+    "Use the left arm to pick the shoe with curved sole and position it on the mat",
+    "Use the left arm to lift the the white sneaker shoe from the table and set it on the mat",
+    "Grab the rubber sole shoe from the table and place it on the mat",
+    "Pick the the shoe with curved sole off the table and position it on the mat",
+    "Move the shoe with patterned bottom from the table to the mat",
+    "Grab the white shoe with rubber sole from the table with the left arm and place it on the mat",
+    "Take the medium-sized rounded white shoe and put it on the mat",
+    "Move the white shoe with rubber sole from the table and place it down on the mat",
+    "Take the shoe for walking from the table and put it on the mat",
+    "Pick the shoe for walking up from the table and put it on the mat",
+    "Pick the the medium-sized rounded white shoe from the table and place it gently on the mat",
+    "Using the left arm, lift the rubber sole shoe from the table and place it onto the mat",
+    "With the left arm, grab the shoe with curved sole from the table and place it on the mat",
+    "Use the left arm to grab the the rubber sole shoe and put it on the mat",
+    "Using the left arm, grasp the shoe with textured sole from the table and place it onto the mat",
+    "Lift the shoe with lace holes off the table using the left arm and drop it on the mat",
+    "Use the left arm to grab the smooth white shoe and transfer it to the mat",
+    "Use the left arm to grab the shoe with textured sole from the table and move it to the mat",
+    "Lift the the medium-sized rounded white shoe from the table using the left arm and place it on the mat",
+    "Take the the rubber sole shoe off the table and put it on the mat",
+    "Lift the white shoe with rubber sole from the table and gently place it onto the mat",
+    "Pick the white shoe with rubber sole up from the table and drop it directly on the mat",
+    "Pick up the white shoe with rubber sole and move it to the mat",
+    "Use the left arm to pick up the synthetic leather shoe from the table and drop it on the mat",
+    "Transfer the synthetic leather shoe from the table to the mat",
+    "Lift the smooth white shoe and place it on the mat",
+    "With the left arm, pick the medium white shoe up from the table and put it on the mat",
+    "Lift the shoe with textured sole using the left arm from the table and place it on the mat",
+    "Take the white shoe with rubber sole from the table and carefully drop it on the mat",
+    "Pick up the medium-sized rounded white shoe with the left arm from the table and place it on the mat",
+    "Retrieve the shoe with patterned bottom from the table and set it on the mat",
+    "Pick up the shoe with patterned bottom with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to grab the the shoe with curved sole from the table and set it on the mat",
+    "Use the left arm to lift the smooth white shoe from the table and set it on the mat",
+    "Lift the white shoe with rubber sole from the table and place it carefully on the mat",
+    "Take the medium white shoe with the left arm and place it carefully on the mat",
+    "Use the left arm to pick the shoe for walking off the table and move it onto the mat",
+    "Take the white sneaker shoe from the table and place it on the mat",
+    "Take the the shoe with textured sole from the table using the left arm and drop it on the mat",
+    "Take the shoe with patterned bottom from the table and position it on the mat",
+    "Lift the the white sneaker shoe from the table and place it onto the mat",
+    "Grab the white shoe with rubber sole using the left arm, move it from the table to the mat",
+    "Remove the shoe for walking from the table and lay it on the mat",
+    "Use the left arm to lift the shoe with textured sole from the table and set it on the mat",
+    "Pick up the rubber sole shoe from the table and set it on the mat",
+    "Move the smooth white shoe from the table to the mat",
+    "Grab the shoe with lace holes using the left arm and drop it on the mat",
+    "Move the smooth white shoe from the table to the mat in one fluid motion",
+    "With the left arm, grab the shoe with textured sole off the table and place it onto the mat",
+    "Grab the the white shoe with rubber sole on the table and move it to the mat",
+    "Use the left arm to pick the synthetic leather shoe and position it on the mat",
+    "Use the left arm to lift the the shoe with patterned bottom from the table and set it on the mat",
+    "Grab the smooth white shoe from the table and place it on the mat",
+    "Pick the the medium white shoe off the table and position it on the mat",
+    "Move the shoe with patterned bottom from the table to the mat",
+    "Grab the medium-sized rounded white shoe from the table with the left arm and place it on the mat",
+    "Take the medium-sized rounded white shoe and put it on the mat",
+    "Move the white sneaker shoe from the table and place it down on the mat",
+    "Take the synthetic leather shoe from the table and put it on the mat",
+    "Pick the white shoe with rubber sole up from the table and put it on the mat",
+    "Pick the the white shoe with rubber sole from the table and place it gently on the mat",
+    "Using the left arm, lift the white sneaker shoe from the table and place it onto the mat",
+    "With the left arm, grab the white sneaker shoe from the table and place it on the mat",
+    "Use the left arm to grab the the shoe with patterned bottom and put it on the mat",
+    "Using the left arm, grasp the shoe with patterned bottom from the table and place it onto the mat",
+    "Lift the white shoe with rubber sole off the table using the left arm and drop it on the mat",
+    "Use the left arm to grab the medium white shoe and transfer it to the mat",
+    "Use the left arm to grab the shoe with textured sole from the table and move it to the mat",
+    "Lift the the medium white shoe from the table using the left arm and place it on the mat",
+    "Take the the shoe for walking off the table and put it on the mat",
+    "Lift the shoe for walking from the table and gently place it onto the mat",
+    "Pick the medium-sized rounded white shoe up from the table and drop it directly on the mat",
+    "Pick up the shoe with patterned bottom and move it to the mat",
+    "Use the left arm to pick up the rubber sole shoe from the table and drop it on the mat",
+    "Transfer the white shoe with rubber sole from the table to the mat",
+    "Lift the medium-sized rounded white shoe and place it on the mat"
+  ],
+  "unseen": [
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the medium adult shoe and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode3.json b/place_shoe/demo_clean/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..985288f445474cd0b61bdef1fcfeacf3da4dca5e
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the lace-up sneaker from the table and gently place it onto the mat",
+    "With the left arm, pick the canvas shoe with grooved sole up from the table and put it on the mat",
+    "Pick the comfortable white and red shoe up from the table and put it on the mat",
+    "Lift the medium-sized adult shoe from the table and place it carefully on the mat",
+    "Use the left arm to pick the comfortable white and red shoe off the table and move it onto the mat",
+    "Use the left arm to grab the the lace-up sneaker and put it on the mat",
+    "Move the rubber sole shoe from the table to the mat",
+    "Grab the lace-up canvas shoe using the left arm, move it from the table to the mat",
+    "Move the white shoe with flat sole from the table to the mat",
+    "Take the white shoe with flat sole from the table and position it on the mat",
+    "Use the left arm to grab the comfortable white and red shoe from the table and move it to the mat",
+    "Grab the the lace-up sneaker on the table and move it to the mat",
+    "Transfer the lace-up canvas shoe from the table to the mat",
+    "Lift the classic sneaker design shoe using the left arm from the table and place it on the mat",
+    "Use the left arm to lift the the lace-up canvas shoe from the table and set it on the mat",
+    "Grab the classic sneaker design shoe using the left arm and drop it on the mat",
+    "Lift the lace-up canvas shoe off the table using the left arm and drop it on the mat",
+    "Take the canvas shoe with grooved sole from the table and carefully drop it on the mat",
+    "Pick the the canvas shoe with grooved sole from the table and place it gently on the mat",
+    "With the left arm, grab the comfortable white and red shoe from the table and place it on the mat",
+    "Lift the the canvas shoe with grooved sole from the table and place it onto the mat",
+    "With the left arm, grab the white shoe with red tag off the table and place it onto the mat",
+    "Use the left arm to lift the canvas shoe with grooved sole from the table and set it on the mat",
+    "Take the the comfortable white and red shoe from the table using the left arm and drop it on the mat",
+    "Remove the classic sneaker design shoe from the table and lay it on the mat",
+    "Pick up the rubber sole shoe with the left arm from the table and place it on the mat",
+    "Grab the shoe with flat rubber sole from the table with the left arm and place it on the mat",
+    "Use the left arm to grab the rounded front shoe and transfer it to the mat",
+    "Take the rounded front shoe from the table and put it on the mat",
+    "Use the left arm to grab the the rounded front shoe from the table and set it on the mat",
+    "Retrieve the lace-up canvas shoe from the table and set it on the mat",
+    "Grab the rounded front shoe from the table and place it on the mat",
+    "Lift the lace-up sneaker and place it on the mat",
+    "Lift the the classic sneaker design shoe from the table using the left arm and place it on the mat",
+    "Take the medium-sized adult shoe and put it on the mat",
+    "Pick up the lace-up sneaker and move it to the mat",
+    "Using the left arm, lift the lace-up sneaker from the table and place it onto the mat",
+    "Pick the the lace-up canvas shoe off the table and position it on the mat",
+    "Take the comfortable white and red shoe with the left arm and place it carefully on the mat",
+    "Pick up the shoe with flat rubber sole with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to pick the white shoe with red tag and position it on the mat",
+    "Pick the white sneaker with red accents up from the table and drop it directly on the mat",
+    "Take the medium-sized adult shoe from the table and place it on the mat",
+    "Use the left arm to lift the white shoe with flat sole from the table and set it on the mat",
+    "Take the the canvas shoe with grooved sole off the table and put it on the mat",
+    "Move the white shoe with red tag from the table and place it down on the mat",
+    "Move the medium-sized adult shoe from the table to the mat in one fluid motion",
+    "Use the left arm to pick up the rubber sole shoe from the table and drop it on the mat",
+    "Pick up the white shoe with flat sole from the table and set it on the mat",
+    "Using the left arm, grasp the white shoe with flat sole from the table and place it onto the mat",
+    "Lift the medium-sized adult shoe from the table and gently place it onto the mat",
+    "With the left arm, pick the lace-up sneaker up from the table and put it on the mat",
+    "Pick the lace-up sneaker up from the table and put it on the mat",
+    "Lift the canvas shoe with grooved sole from the table and place it carefully on the mat",
+    "Use the left arm to pick the lace-up canvas shoe off the table and move it onto the mat",
+    "Use the left arm to grab the the shoe with flat rubber sole and put it on the mat",
+    "Move the classic sneaker design shoe from the table to the mat",
+    "Grab the white shoe with red tag using the left arm, move it from the table to the mat",
+    "Move the canvas shoe with grooved sole from the table to the mat",
+    "Take the comfortable white and red shoe from the table and position it on the mat",
+    "Use the left arm to grab the lace-up canvas shoe from the table and move it to the mat",
+    "Grab the the medium-sized adult shoe on the table and move it to the mat",
+    "Transfer the shoe with flat rubber sole from the table to the mat",
+    "Lift the white shoe with red tag using the left arm from the table and place it on the mat",
+    "Use the left arm to lift the the lace-up canvas shoe from the table and set it on the mat",
+    "Grab the rubber sole shoe using the left arm and drop it on the mat",
+    "Lift the white sneaker with red accents off the table using the left arm and drop it on the mat",
+    "Take the white sneaker with red accents from the table and carefully drop it on the mat",
+    "Pick the the lace-up canvas shoe from the table and place it gently on the mat",
+    "With the left arm, grab the shoe with flat rubber sole from the table and place it on the mat",
+    "Lift the the comfortable white and red shoe from the table and place it onto the mat",
+    "With the left arm, grab the lace-up canvas shoe off the table and place it onto the mat",
+    "Use the left arm to lift the lace-up sneaker from the table and set it on the mat",
+    "Take the the medium-sized adult shoe from the table using the left arm and drop it on the mat",
+    "Remove the comfortable white and red shoe from the table and lay it on the mat",
+    "Pick up the white sneaker with red accents with the left arm from the table and place it on the mat",
+    "Grab the classic sneaker design shoe from the table with the left arm and place it on the mat",
+    "Use the left arm to grab the lace-up sneaker and transfer it to the mat",
+    "Take the white shoe with flat sole from the table and put it on the mat",
+    "Use the left arm to grab the the medium-sized adult shoe from the table and set it on the mat",
+    "Retrieve the white shoe with flat sole from the table and set it on the mat",
+    "Grab the white shoe with flat sole from the table and place it on the mat",
+    "Lift the medium-sized adult shoe and place it on the mat",
+    "Lift the the shoe with flat rubber sole from the table using the left arm and place it on the mat",
+    "Take the lace-up canvas shoe and put it on the mat",
+    "Pick up the rounded front shoe and move it to the mat",
+    "Using the left arm, lift the canvas shoe with grooved sole from the table and place it onto the mat",
+    "Pick the the white shoe with flat sole off the table and position it on the mat",
+    "Take the white shoe with flat sole with the left arm and place it carefully on the mat",
+    "Pick up the canvas shoe with grooved sole with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to pick the white sneaker with red accents and position it on the mat",
+    "Pick the lace-up canvas shoe up from the table and drop it directly on the mat",
+    "Take the comfortable white and red shoe from the table and place it on the mat",
+    "Use the left arm to lift the classic sneaker design shoe from the table and set it on the mat",
+    "Take the the white sneaker with red accents off the table and put it on the mat",
+    "Move the shoe with flat rubber sole from the table and place it down on the mat",
+    "Move the rounded front shoe from the table to the mat in one fluid motion",
+    "Use the left arm to pick up the white sneaker with red accents from the table and drop it on the mat",
+    "Pick up the white sneaker with red accents from the table and set it on the mat",
+    "Using the left arm, grasp the rubber sole shoe from the table and place it onto the mat"
+  ],
+  "unseen": [
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Use the left arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the left arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the left arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Use the left arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the left arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Use the left arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the left arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the left arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Use the left arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Use the left arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Use the left arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the left arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the left arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode30.json b/place_shoe/demo_clean/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..61e2f0e434261be843ec6d98f4260c559bef7461
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the white shoe and place it on the mat",
+    "Pick up the medium-sized casual shoe from the table and set it on the mat",
+    "Move the synthetic leather white shoe from the table to the mat",
+    "Pick the the synthetic leather white shoe from the table and place it gently on the mat",
+    "With the left arm, grab the soft rubber-soled white shoe from the table and place it on the mat",
+    "Grab the white and black combination shoe using the left arm, move it from the table to the mat",
+    "Lift the white shoe with rounded toe from the table and place it carefully on the mat",
+    "Transfer the white and black combination shoe from the table to the mat",
+    "Lift the white and black combination shoe off the table using the left arm and drop it on the mat",
+    "Use the left arm to pick the medium-sized casual shoe and position it on the mat",
+    "Take the white and black combination shoe and put it on the mat",
+    "Take the shoe for everyday walking with the left arm and place it carefully on the mat",
+    "Pick the the white shoe with rounded toe off the table and position it on the mat",
+    "Use the left arm to grab the synthetic leather white shoe and transfer it to the mat",
+    "Grab the the white shoe with rounded toe on the table and move it to the mat",
+    "Take the white and black combination shoe from the table and place it on the mat",
+    "Grab the shoe with lace-up front from the table with the left arm and place it on the mat",
+    "Using the left arm, lift the shoe for everyday walking from the table and place it onto the mat",
+    "Remove the soft rubber-soled white shoe from the table and lay it on the mat",
+    "Take the white shoe from the table and position it on the mat",
+    "Use the left arm to lift the the shoe for everyday walking from the table and set it on the mat",
+    "Use the left arm to grab the the white shoe from the table and set it on the mat",
+    "Pick up the soft rubber-soled white shoe and move it to the mat",
+    "Use the left arm to grab the sleek white walking shoe from the table and move it to the mat",
+    "Retrieve the sleek white walking shoe from the table and set it on the mat",
+    "Move the white shoe with rounded toe from the table to the mat in one fluid motion",
+    "Lift the the white shoe with curved sole from the table using the left arm and place it on the mat",
+    "Move the white and black combination shoe from the table and place it down on the mat",
+    "Lift the white shoe with rounded toe from the table and gently place it onto the mat",
+    "Pick the white shoe up from the table and put it on the mat",
+    "Take the the synthetic leather white shoe from the table using the left arm and drop it on the mat",
+    "Pick up the shoe with black back detail with the left arm from the table and place it on the mat",
+    "Pick the soft rubber-soled white shoe up from the table and drop it directly on the mat",
+    "Use the left arm to grab the the white shoe with rounded toe and put it on the mat",
+    "Use the left arm to lift the medium-sized casual shoe from the table and set it on the mat",
+    "Use the left arm to pick up the shoe for everyday walking from the table and drop it on the mat",
+    "Pick up the white shoe with rounded toe with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to pick the sleek white walking shoe off the table and move it onto the mat",
+    "Using the left arm, grasp the sleek white walking shoe from the table and place it onto the mat",
+    "With the left arm, grab the medium-sized casual shoe off the table and place it onto the mat",
+    "Use the left arm to lift the white and black combination shoe from the table and set it on the mat",
+    "Take the synthetic leather white shoe from the table and put it on the mat",
+    "Grab the white and black combination shoe using the left arm and drop it on the mat",
+    "Take the the shoe with black back detail off the table and put it on the mat",
+    "Grab the shoe with black back detail from the table and place it on the mat",
+    "Lift the the medium-sized casual shoe from the table and place it onto the mat",
+    "With the left arm, pick the sleek white walking shoe up from the table and put it on the mat",
+    "Lift the soft rubber-soled white shoe using the left arm from the table and place it on the mat",
+    "Take the medium-sized casual shoe from the table and carefully drop it on the mat",
+    "Move the white and black combination shoe from the table to the mat",
+    "Lift the medium-sized casual shoe and place it on the mat",
+    "Pick up the shoe for everyday walking from the table and set it on the mat",
+    "Move the white shoe from the table to the mat",
+    "Pick the the sleek white walking shoe from the table and place it gently on the mat",
+    "With the left arm, grab the shoe with black back detail from the table and place it on the mat",
+    "Grab the shoe for everyday walking using the left arm, move it from the table to the mat",
+    "Lift the shoe with black back detail from the table and place it carefully on the mat",
+    "Transfer the medium-sized casual shoe from the table to the mat",
+    "Lift the white shoe with curved sole off the table using the left arm and drop it on the mat",
+    "Use the left arm to pick the white shoe with curved sole and position it on the mat",
+    "Take the shoe with lace-up front and put it on the mat",
+    "Take the white shoe with the left arm and place it carefully on the mat",
+    "Pick the the white and black combination shoe off the table and position it on the mat",
+    "Use the left arm to grab the sleek white walking shoe and transfer it to the mat",
+    "Grab the the shoe with black back detail on the table and move it to the mat",
+    "Take the shoe with lace-up front from the table and place it on the mat",
+    "Grab the white shoe with rounded toe from the table with the left arm and place it on the mat",
+    "Using the left arm, lift the white shoe from the table and place it onto the mat",
+    "Remove the white and black combination shoe from the table and lay it on the mat",
+    "Take the shoe with black heel patch from the table and position it on the mat",
+    "Use the left arm to lift the the shoe with black heel patch from the table and set it on the mat",
+    "Use the left arm to grab the the medium-sized casual shoe from the table and set it on the mat",
+    "Pick up the white shoe and move it to the mat",
+    "Use the left arm to grab the soft rubber-soled white shoe from the table and move it to the mat",
+    "Retrieve the shoe for everyday walking from the table and set it on the mat",
+    "Move the medium-sized casual shoe from the table to the mat in one fluid motion",
+    "Lift the the white and black combination shoe from the table using the left arm and place it on the mat",
+    "Move the white shoe with rounded toe from the table and place it down on the mat",
+    "Lift the white shoe with rounded toe from the table and gently place it onto the mat",
+    "Pick the shoe for everyday walking up from the table and put it on the mat",
+    "Take the the medium-sized casual shoe from the table using the left arm and drop it on the mat",
+    "Pick up the white shoe with the left arm from the table and place it on the mat",
+    "Pick the white shoe up from the table and drop it directly on the mat",
+    "Use the left arm to grab the the shoe with black back detail and put it on the mat",
+    "Use the left arm to lift the medium-sized casual shoe from the table and set it on the mat",
+    "Use the left arm to pick up the shoe for everyday walking from the table and drop it on the mat",
+    "Pick up the synthetic leather white shoe with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to pick the white and black combination shoe off the table and move it onto the mat",
+    "Using the left arm, grasp the soft rubber-soled white shoe from the table and place it onto the mat",
+    "With the left arm, grab the shoe with black back detail off the table and place it onto the mat",
+    "Use the left arm to lift the white and black combination shoe from the table and set it on the mat",
+    "Take the soft rubber-soled white shoe from the table and put it on the mat",
+    "Grab the synthetic leather white shoe using the left arm and drop it on the mat",
+    "Take the the soft rubber-soled white shoe off the table and put it on the mat",
+    "Grab the shoe with black heel patch from the table and place it on the mat",
+    "Lift the the shoe for everyday walking from the table and place it onto the mat",
+    "With the left arm, pick the white shoe with curved sole up from the table and put it on the mat",
+    "Lift the soft rubber-soled white shoe using the left arm from the table and place it on the mat",
+    "Take the white and black combination shoe from the table and carefully drop it on the mat",
+    "Move the sleek white walking shoe from the table to the mat"
+  ],
+  "unseen": [
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode31.json b/place_shoe/demo_clean/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f73d6b8a970f5594d33c21771e50ec739ad0eb0
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the smooth surface white shoe off the table and move it onto the mat",
+    "Pick the medium-sized shoe up from the table and put it on the mat",
+    "Transfer the white shoe with curved top from the table to the mat",
+    "Move the sports shoe white and black from the table to the mat in one fluid motion",
+    "Using the left arm, lift the white shoe from the table and place it onto the mat",
+    "Use the left arm to grab the the medium-sized shoe and put it on the mat",
+    "Lift the the synthetic leather white shoe from the table using the left arm and place it on the mat",
+    "With the left arm, grab the medium shoe with synthetic material off the table and place it onto the mat",
+    "Take the medium-sized shoe from the table and position it on the mat",
+    "Take the white shoe with black lines from the table and place it on the mat",
+    "Lift the white shoe with black lines from the table and gently place it onto the mat",
+    "Move the white shoe with curved top from the table to the mat",
+    "Lift the medium shoe with synthetic material and place it on the mat",
+    "Pick up the shoe with black accents with the left arm from the table and place it on the mat",
+    "Using the left arm, grasp the rubber-soled black-striped shoe from the table and place it onto the mat",
+    "Use the left arm to grab the the white shoe with curved top from the table and set it on the mat",
+    "Take the white shoe with three stripes from the table and put it on the mat",
+    "Use the left arm to grab the medium-sized shoe and transfer it to the mat",
+    "With the left arm, grab the rounded-top white shoe from the table and place it on the mat",
+    "Take the white shoe from the table and carefully drop it on the mat",
+    "Use the left arm to lift the synthetic leather white shoe from the table and set it on the mat",
+    "Use the left arm to lift the the medium-sized shoe from the table and set it on the mat",
+    "Use the left arm to lift the synthetic leather white shoe from the table and set it on the mat",
+    "With the left arm, pick the white shoe with curved top up from the table and put it on the mat",
+    "Take the the sports shoe white and black off the table and put it on the mat",
+    "Grab the sports shoe white and black from the table and place it on the mat",
+    "Use the left arm to grab the white shoe from the table and move it to the mat",
+    "Remove the synthetic leather white shoe from the table and lay it on the mat",
+    "Take the white shoe with curved top and put it on the mat",
+    "Pick the the white shoe with black lines off the table and position it on the mat",
+    "Lift the rubber-soled black-striped shoe from the table and place it carefully on the mat",
+    "Grab the the white shoe with three stripes on the table and move it to the mat",
+    "Grab the white shoe with curved top from the table with the left arm and place it on the mat",
+    "Pick up the rounded-top white shoe and move it to the mat",
+    "Take the the shoe with black accents from the table using the left arm and drop it on the mat",
+    "Pick the synthetic leather white shoe up from the table and drop it directly on the mat",
+    "Use the left arm to pick the synthetic leather white shoe and position it on the mat",
+    "Move the shoe with black accents from the table to the mat",
+    "Take the smooth surface white shoe with the left arm and place it carefully on the mat",
+    "Use the left arm to pick up the white shoe with three stripes from the table and drop it on the mat",
+    "Lift the white shoe with black lines using the left arm from the table and place it on the mat",
+    "Pick up the white shoe with three stripes with the left arm, move it from the table, and set it on the mat",
+    "Lift the rubber-soled black-striped shoe off the table using the left arm and drop it on the mat",
+    "Grab the smooth surface white shoe using the left arm, move it from the table to the mat",
+    "Retrieve the rounded-top white shoe from the table and set it on the mat",
+    "Move the white shoe with three stripes from the table and place it down on the mat",
+    "Grab the smooth surface white shoe using the left arm and drop it on the mat",
+    "Lift the the white shoe with curved top from the table and place it onto the mat",
+    "Pick up the rubber-soled black-striped shoe from the table and set it on the mat",
+    "Pick the the medium shoe with synthetic material from the table and place it gently on the mat",
+    "Use the left arm to pick the rubber-soled black-striped shoe off the table and move it onto the mat",
+    "Pick the white shoe with black lines up from the table and put it on the mat",
+    "Transfer the white shoe with curved top from the table to the mat",
+    "Move the synthetic leather white shoe from the table to the mat in one fluid motion",
+    "Using the left arm, lift the rubber-soled black-striped shoe from the table and place it onto the mat",
+    "Use the left arm to grab the the white shoe and put it on the mat",
+    "Lift the the white shoe with black lines from the table using the left arm and place it on the mat",
+    "With the left arm, grab the white shoe with three stripes off the table and place it onto the mat",
+    "Take the shoe with black accents from the table and position it on the mat",
+    "Take the rounded-top white shoe from the table and place it on the mat",
+    "Lift the medium shoe with synthetic material from the table and gently place it onto the mat",
+    "Move the rounded-top white shoe from the table to the mat",
+    "Lift the smooth surface white shoe and place it on the mat",
+    "Pick up the white shoe with curved top with the left arm from the table and place it on the mat",
+    "Using the left arm, grasp the medium shoe with synthetic material from the table and place it onto the mat",
+    "Use the left arm to grab the the shoe with black accents from the table and set it on the mat",
+    "Take the white shoe from the table and put it on the mat",
+    "Use the left arm to grab the medium-sized shoe and transfer it to the mat",
+    "With the left arm, grab the medium shoe with synthetic material from the table and place it on the mat",
+    "Take the synthetic leather white shoe from the table and carefully drop it on the mat",
+    "Use the left arm to lift the white shoe with three stripes from the table and set it on the mat",
+    "Use the left arm to lift the the shoe with black accents from the table and set it on the mat",
+    "Use the left arm to lift the white shoe from the table and set it on the mat",
+    "With the left arm, pick the white shoe up from the table and put it on the mat",
+    "Take the the sports shoe white and black off the table and put it on the mat",
+    "Grab the sports shoe white and black from the table and place it on the mat",
+    "Use the left arm to grab the rounded-top white shoe from the table and move it to the mat",
+    "Remove the shoe with black accents from the table and lay it on the mat",
+    "Take the white shoe with three stripes and put it on the mat",
+    "Pick the the sports shoe white and black off the table and position it on the mat",
+    "Lift the white shoe with three stripes from the table and place it carefully on the mat",
+    "Grab the the white shoe with curved top on the table and move it to the mat",
+    "Grab the smooth surface white shoe from the table with the left arm and place it on the mat",
+    "Pick up the smooth surface white shoe and move it to the mat",
+    "Take the the white shoe with curved top from the table using the left arm and drop it on the mat",
+    "Pick the white shoe with curved top up from the table and drop it directly on the mat",
+    "Use the left arm to pick the white shoe with black lines and position it on the mat",
+    "Move the white shoe with curved top from the table to the mat",
+    "Take the sports shoe white and black with the left arm and place it carefully on the mat",
+    "Use the left arm to pick up the sports shoe white and black from the table and drop it on the mat",
+    "Lift the white shoe using the left arm from the table and place it on the mat",
+    "Pick up the smooth surface white shoe with the left arm, move it from the table, and set it on the mat",
+    "Lift the white shoe off the table using the left arm and drop it on the mat",
+    "Grab the medium shoe with synthetic material using the left arm, move it from the table to the mat",
+    "Retrieve the white shoe with black lines from the table and set it on the mat",
+    "Move the rubber-soled black-striped shoe from the table and place it down on the mat",
+    "Grab the white shoe with curved top using the left arm and drop it on the mat",
+    "Lift the the rubber-soled black-striped shoe from the table and place it onto the mat",
+    "Pick up the rounded-top white shoe from the table and set it on the mat",
+    "Pick the the rounded-top white shoe from the table and place it gently on the mat"
+  ],
+  "unseen": [
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode32.json b/place_shoe/demo_clean/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..a44d3f34f93eb4a088c7688e0e338b1e8d22740f
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, lift the white shoe from the table and place it onto the mat",
+    "Remove the white shoe with curved sole from the table and lay it on the mat",
+    "Use the right arm to grab the white shoe with curved sole from the table and move it to the mat",
+    "Lift the white shoe and place it on the mat",
+    "Pick up the medium-sized casual shoe and move it to the mat",
+    "Grab the synthetic leather white shoe from the table with the right arm and place it on the mat",
+    "Lift the the medium-sized casual shoe from the table and place it onto the mat",
+    "Use the right arm to grab the medium-sized casual shoe and transfer it to the mat",
+    "Take the the white shoe with rounded toe from the table using the right arm and drop it on the mat",
+    "Use the right arm to pick the white shoe and position it on the mat",
+    "Use the right arm to pick up the white shoe with curved sole from the table and drop it on the mat",
+    "Use the right arm to grab the the white and black combination shoe and put it on the mat",
+    "Use the right arm to grab the the white shoe from the table and set it on the mat",
+    "Take the synthetic leather white shoe with the right arm and place it carefully on the mat",
+    "With the right arm, pick the shoe with black back detail up from the table and put it on the mat",
+    "Grab the shoe with black heel patch using the right arm and drop it on the mat",
+    "Lift the white and black combination shoe off the table using the right arm and drop it on the mat",
+    "Transfer the white shoe with rounded toe from the table to the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Move the sleek white walking shoe from the table to the mat in one fluid motion",
+    "Using the right arm, grasp the white shoe with curved sole from the table and place it onto the mat",
+    "Pick up the shoe for everyday walking with the right arm, move it from the table, and set it on the mat",
+    "Lift the white shoe with rounded toe using the right arm from the table and place it on the mat",
+    "Take the shoe with lace-up front and put it on the mat",
+    "Lift the white shoe with curved sole from the table and gently place it onto the mat",
+    "Take the sleek white walking shoe from the table and put it on the mat",
+    "Pick the the white shoe with curved sole from the table and place it gently on the mat",
+    "Pick the the white shoe with curved sole off the table and position it on the mat",
+    "Use the right arm to lift the the white and black combination shoe from the table and set it on the mat",
+    "Lift the shoe with black back detail from the table and place it carefully on the mat",
+    "Pick up the synthetic leather white shoe with the right arm from the table and place it on the mat",
+    "Move the shoe with black back detail from the table and place it down on the mat",
+    "Move the shoe with lace-up front from the table to the mat",
+    "Take the shoe with black back detail from the table and carefully drop it on the mat",
+    "Lift the the sleek white walking shoe from the table using the right arm and place it on the mat",
+    "Pick the shoe with black back detail up from the table and put it on the mat",
+    "Grab the shoe with black back detail using the right arm, move it from the table to the mat",
+    "Take the the shoe with black back detail off the table and put it on the mat",
+    "Move the sleek white walking shoe from the table to the mat",
+    "Retrieve the soft rubber-soled white shoe from the table and set it on the mat",
+    "Pick up the medium-sized casual shoe from the table and set it on the mat",
+    "With the right arm, grab the shoe for everyday walking off the table and place it onto the mat",
+    "Take the medium-sized casual shoe from the table and place it on the mat",
+    "Pick the white shoe with rounded toe up from the table and drop it directly on the mat",
+    "Use the right arm to lift the shoe with black heel patch from the table and set it on the mat",
+    "Use the right arm to lift the sleek white walking shoe from the table and set it on the mat",
+    "Take the white shoe with rounded toe from the table and position it on the mat",
+    "With the right arm, grab the shoe with lace-up front from the table and place it on the mat",
+    "Grab the the shoe with lace-up front on the table and move it to the mat",
+    "Use the right arm to pick the shoe with black back detail off the table and move it onto the mat",
+    "Using the right arm, lift the white shoe from the table and place it onto the mat",
+    "Remove the shoe with black heel patch from the table and lay it on the mat",
+    "Use the right arm to grab the shoe with black heel patch from the table and move it to the mat",
+    "Lift the shoe with lace-up front and place it on the mat",
+    "Pick up the white and black combination shoe and move it to the mat",
+    "Grab the sleek white walking shoe from the table with the right arm and place it on the mat",
+    "Lift the the white shoe from the table and place it onto the mat",
+    "Use the right arm to grab the white shoe with rounded toe and transfer it to the mat",
+    "Take the the white and black combination shoe from the table using the right arm and drop it on the mat",
+    "Use the right arm to pick the white shoe with curved sole and position it on the mat",
+    "Use the right arm to pick up the white shoe with curved sole from the table and drop it on the mat",
+    "Use the right arm to grab the the shoe with lace-up front and put it on the mat",
+    "Use the right arm to grab the the shoe with lace-up front from the table and set it on the mat",
+    "Take the white shoe with rounded toe with the right arm and place it carefully on the mat",
+    "With the right arm, pick the white shoe with curved sole up from the table and put it on the mat",
+    "Grab the white shoe with rounded toe using the right arm and drop it on the mat",
+    "Lift the medium-sized casual shoe off the table using the right arm and drop it on the mat",
+    "Transfer the soft rubber-soled white shoe from the table to the mat",
+    "Grab the medium-sized casual shoe from the table and place it on the mat",
+    "Move the white shoe from the table to the mat in one fluid motion",
+    "Using the right arm, grasp the sleek white walking shoe from the table and place it onto the mat",
+    "Pick up the soft rubber-soled white shoe with the right arm, move it from the table, and set it on the mat",
+    "Lift the soft rubber-soled white shoe using the right arm from the table and place it on the mat",
+    "Take the shoe with lace-up front and put it on the mat",
+    "Lift the shoe with black heel patch from the table and gently place it onto the mat",
+    "Take the shoe with lace-up front from the table and put it on the mat",
+    "Pick the the shoe for everyday walking from the table and place it gently on the mat",
+    "Pick the the white shoe with curved sole off the table and position it on the mat",
+    "Use the right arm to lift the the white shoe from the table and set it on the mat",
+    "Lift the medium-sized casual shoe from the table and place it carefully on the mat",
+    "Pick up the shoe with black back detail with the right arm from the table and place it on the mat",
+    "Move the shoe for everyday walking from the table and place it down on the mat",
+    "Move the sleek white walking shoe from the table to the mat",
+    "Take the soft rubber-soled white shoe from the table and carefully drop it on the mat",
+    "Lift the the white shoe with curved sole from the table using the right arm and place it on the mat",
+    "Pick the shoe with black heel patch up from the table and put it on the mat",
+    "Grab the synthetic leather white shoe using the right arm, move it from the table to the mat",
+    "Take the the white shoe off the table and put it on the mat",
+    "Move the white and black combination shoe from the table to the mat",
+    "Retrieve the white shoe from the table and set it on the mat",
+    "Pick up the shoe with black back detail from the table and set it on the mat",
+    "With the right arm, grab the shoe with black back detail off the table and place it onto the mat",
+    "Take the shoe for everyday walking from the table and place it on the mat",
+    "Pick the synthetic leather white shoe up from the table and drop it directly on the mat",
+    "Use the right arm to lift the white shoe with rounded toe from the table and set it on the mat",
+    "Use the right arm to lift the shoe with black back detail from the table and set it on the mat",
+    "Take the shoe with black back detail from the table and position it on the mat",
+    "With the right arm, grab the medium-sized casual shoe from the table and place it on the mat",
+    "Grab the the medium-sized casual shoe on the table and move it to the mat",
+    "Use the right arm to pick the white shoe with curved sole off the table and move it onto the mat"
+  ],
+  "unseen": [
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode33.json b/place_shoe/demo_clean/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..51f9cbbfbfb84f140389b63ff41c7f52c5d8addd
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the soft rubber-soled white shoe up from the table and put it on the mat",
+    "Remove the shoe with lace-up front from the table and lay it on the mat",
+    "Use the right arm to grab the shoe with black heel patch and transfer it to the mat",
+    "Use the right arm to grab the shoe for everyday walking from the table and move it to the mat",
+    "Take the white shoe with curved sole from the table and place it on the mat",
+    "Take the shoe with black back detail from the table and put it on the mat",
+    "Move the soft rubber-soled white shoe from the table and place it down on the mat",
+    "Move the shoe with black heel patch from the table to the mat",
+    "Pick the the sleek white walking shoe from the table and place it gently on the mat",
+    "Use the right arm to pick the shoe with lace-up front off the table and move it onto the mat",
+    "Move the sleek white walking shoe from the table to the mat in one fluid motion",
+    "Pick the the white shoe off the table and position it on the mat",
+    "Transfer the white and black combination shoe from the table to the mat",
+    "Lift the shoe with lace-up front off the table using the right arm and drop it on the mat",
+    "Lift the sleek white walking shoe and place it on the mat",
+    "Using the right arm, grasp the synthetic leather white shoe from the table and place it onto the mat",
+    "Use the right arm to lift the the synthetic leather white shoe from the table and set it on the mat",
+    "Pick up the white shoe with curved sole with the right arm from the table and place it on the mat",
+    "Take the white shoe with rounded toe and put it on the mat",
+    "Using the right arm, lift the soft rubber-soled white shoe from the table and place it onto the mat",
+    "Take the the shoe with black back detail from the table using the right arm and drop it on the mat",
+    "Lift the shoe with black heel patch from the table and gently place it onto the mat",
+    "Retrieve the shoe with black heel patch from the table and set it on the mat",
+    "Lift the white and black combination shoe from the table and place it carefully on the mat",
+    "Pick up the white shoe with curved sole and move it to the mat",
+    "Use the right arm to grab the the white shoe with curved sole from the table and set it on the mat",
+    "Take the the medium-sized casual shoe off the table and put it on the mat",
+    "With the right arm, grab the sleek white walking shoe off the table and place it onto the mat",
+    "Take the shoe for everyday walking from the table and position it on the mat",
+    "Use the right arm to lift the medium-sized casual shoe from the table and set it on the mat",
+    "Pick the white shoe with curved sole up from the table and drop it directly on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Lift the the white shoe with rounded toe from the table and place it onto the mat",
+    "Use the right arm to lift the white shoe with rounded toe from the table and set it on the mat",
+    "Pick up the shoe with lace-up front with the right arm, move it from the table, and set it on the mat",
+    "Grab the medium-sized casual shoe using the right arm and drop it on the mat",
+    "Lift the shoe with lace-up front using the right arm from the table and place it on the mat",
+    "Use the right arm to pick the shoe for everyday walking and position it on the mat",
+    "Pick up the soft rubber-soled white shoe from the table and set it on the mat",
+    "Take the shoe for everyday walking with the right arm and place it carefully on the mat",
+    "Move the shoe with lace-up front from the table to the mat",
+    "Lift the the white shoe with curved sole from the table using the right arm and place it on the mat",
+    "With the right arm, pick the shoe with black back detail up from the table and put it on the mat",
+    "Use the right arm to pick up the white shoe from the table and drop it on the mat",
+    "With the right arm, grab the white and black combination shoe from the table and place it on the mat",
+    "Use the right arm to grab the the white shoe with curved sole and put it on the mat",
+    "Grab the shoe with black back detail using the right arm, move it from the table to the mat",
+    "Take the white shoe with rounded toe from the table and carefully drop it on the mat",
+    "Grab the the white shoe with curved sole on the table and move it to the mat",
+    "Grab the shoe with lace-up front from the table with the right arm and place it on the mat",
+    "Pick the white shoe with curved sole up from the table and put it on the mat",
+    "Remove the soft rubber-soled white shoe from the table and lay it on the mat",
+    "Use the right arm to grab the white and black combination shoe and transfer it to the mat",
+    "Use the right arm to grab the shoe with lace-up front from the table and move it to the mat",
+    "Take the white shoe with rounded toe from the table and place it on the mat",
+    "Take the shoe with black back detail from the table and put it on the mat",
+    "Move the white and black combination shoe from the table and place it down on the mat",
+    "Move the white shoe with curved sole from the table to the mat",
+    "Pick the the medium-sized casual shoe from the table and place it gently on the mat",
+    "Use the right arm to pick the white shoe with rounded toe off the table and move it onto the mat",
+    "Move the soft rubber-soled white shoe from the table to the mat in one fluid motion",
+    "Pick the the medium-sized casual shoe off the table and position it on the mat",
+    "Transfer the synthetic leather white shoe from the table to the mat",
+    "Lift the shoe with lace-up front off the table using the right arm and drop it on the mat",
+    "Lift the white and black combination shoe and place it on the mat",
+    "Using the right arm, grasp the shoe for everyday walking from the table and place it onto the mat",
+    "Use the right arm to lift the the sleek white walking shoe from the table and set it on the mat",
+    "Pick up the soft rubber-soled white shoe with the right arm from the table and place it on the mat",
+    "Take the shoe with black heel patch and put it on the mat",
+    "Using the right arm, lift the soft rubber-soled white shoe from the table and place it onto the mat",
+    "Take the the shoe with lace-up front from the table using the right arm and drop it on the mat",
+    "Lift the shoe with lace-up front from the table and gently place it onto the mat",
+    "Retrieve the synthetic leather white shoe from the table and set it on the mat",
+    "Lift the white and black combination shoe from the table and place it carefully on the mat",
+    "Pick up the white and black combination shoe and move it to the mat",
+    "Use the right arm to grab the the white shoe with rounded toe from the table and set it on the mat",
+    "Take the the soft rubber-soled white shoe off the table and put it on the mat",
+    "With the right arm, grab the white shoe with rounded toe off the table and place it onto the mat",
+    "Take the shoe for everyday walking from the table and position it on the mat",
+    "Use the right arm to lift the medium-sized casual shoe from the table and set it on the mat",
+    "Pick the synthetic leather white shoe up from the table and drop it directly on the mat",
+    "Grab the soft rubber-soled white shoe from the table and place it on the mat",
+    "Lift the the medium-sized casual shoe from the table and place it onto the mat",
+    "Use the right arm to lift the white shoe with curved sole from the table and set it on the mat",
+    "Pick up the shoe for everyday walking with the right arm, move it from the table, and set it on the mat",
+    "Grab the shoe with black heel patch using the right arm and drop it on the mat",
+    "Lift the white shoe with curved sole using the right arm from the table and place it on the mat",
+    "Use the right arm to pick the shoe with black back detail and position it on the mat",
+    "Pick up the soft rubber-soled white shoe from the table and set it on the mat",
+    "Take the shoe with black back detail with the right arm and place it carefully on the mat",
+    "Move the synthetic leather white shoe from the table to the mat",
+    "Lift the the soft rubber-soled white shoe from the table using the right arm and place it on the mat",
+    "With the right arm, pick the shoe for everyday walking up from the table and put it on the mat",
+    "Use the right arm to pick up the synthetic leather white shoe from the table and drop it on the mat",
+    "With the right arm, grab the white shoe from the table and place it on the mat",
+    "Use the right arm to grab the the white shoe and put it on the mat",
+    "Grab the white shoe with rounded toe using the right arm, move it from the table to the mat",
+    "Take the shoe with lace-up front from the table and carefully drop it on the mat",
+    "Grab the the white shoe on the table and move it to the mat",
+    "Grab the white shoe from the table with the right arm and place it on the mat"
+  ],
+  "unseen": [
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode34.json b/place_shoe/demo_clean/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..fabc3dae0013fa6a779176977d38212e71077d87
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the rounded-top white shoe from the table and put it on the mat",
+    "Move the shoe with black accents from the table to the mat",
+    "Lift the white shoe using the right arm from the table and place it on the mat",
+    "With the right arm, grab the sports shoe white and black from the table and place it on the mat",
+    "Move the medium-sized shoe from the table to the mat",
+    "Lift the the white shoe from the table and place it onto the mat",
+    "Pick the rounded-top white shoe up from the table and drop it directly on the mat",
+    "Retrieve the smooth surface white shoe from the table and set it on the mat",
+    "Grab the synthetic leather white shoe using the right arm, move it from the table to the mat",
+    "Use the right arm to lift the medium-sized shoe from the table and set it on the mat",
+    "Use the right arm to lift the the white shoe with three stripes from the table and set it on the mat",
+    "Lift the synthetic leather white shoe from the table and place it carefully on the mat",
+    "Pick up the white shoe with black lines from the table and set it on the mat",
+    "Transfer the medium shoe with synthetic material from the table to the mat",
+    "Use the right arm to pick up the sports shoe white and black from the table and drop it on the mat",
+    "Using the right arm, lift the white shoe with curved top from the table and place it onto the mat",
+    "Grab the white shoe with curved top from the table and place it on the mat",
+    "Use the right arm to grab the synthetic leather white shoe from the table and move it to the mat",
+    "Take the white shoe from the table and position it on the mat",
+    "Use the right arm to pick the rounded-top white shoe off the table and move it onto the mat",
+    "Lift the the shoe with black accents from the table using the right arm and place it on the mat",
+    "Take the the white shoe with black lines off the table and put it on the mat",
+    "Take the rounded-top white shoe and put it on the mat",
+    "Use the right arm to lift the smooth surface white shoe from the table and set it on the mat",
+    "Lift the smooth surface white shoe from the table and gently place it onto the mat",
+    "Take the white shoe from the table and place it on the mat",
+    "Lift the white shoe with curved top and place it on the mat",
+    "Pick up the white shoe with black lines and move it to the mat",
+    "With the right arm, pick the white shoe with three stripes up from the table and put it on the mat",
+    "Remove the rubber-soled black-striped shoe from the table and lay it on the mat",
+    "Move the white shoe with curved top from the table and place it down on the mat",
+    "Grab the white shoe using the right arm and drop it on the mat",
+    "Use the right arm to grab the white shoe with curved top and transfer it to the mat",
+    "Take the medium shoe with synthetic material from the table and carefully drop it on the mat",
+    "Using the right arm, grasp the synthetic leather white shoe from the table and place it onto the mat",
+    "Pick up the sports shoe white and black with the right arm, move it from the table, and set it on the mat",
+    "Move the shoe with black accents from the table to the mat in one fluid motion",
+    "Take the smooth surface white shoe with the right arm and place it carefully on the mat",
+    "Pick the the medium shoe with synthetic material from the table and place it gently on the mat",
+    "Lift the white shoe with three stripes off the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the the white shoe from the table and set it on the mat",
+    "Pick the the shoe with black accents off the table and position it on the mat",
+    "Use the right arm to grab the the white shoe and put it on the mat",
+    "Grab the smooth surface white shoe from the table with the right arm and place it on the mat",
+    "With the right arm, grab the synthetic leather white shoe off the table and place it onto the mat",
+    "Pick up the shoe with black accents with the right arm from the table and place it on the mat",
+    "Pick the medium shoe with synthetic material up from the table and put it on the mat",
+    "Use the right arm to pick the white shoe with black lines and position it on the mat",
+    "Grab the the rounded-top white shoe on the table and move it to the mat",
+    "Take the the white shoe with black lines from the table using the right arm and drop it on the mat",
+    "Take the white shoe from the table and put it on the mat",
+    "Move the synthetic leather white shoe from the table to the mat",
+    "Lift the smooth surface white shoe using the right arm from the table and place it on the mat",
+    "With the right arm, grab the rounded-top white shoe from the table and place it on the mat",
+    "Move the white shoe from the table to the mat",
+    "Lift the the sports shoe white and black from the table and place it onto the mat",
+    "Pick the rubber-soled black-striped shoe up from the table and drop it directly on the mat",
+    "Retrieve the medium-sized shoe from the table and set it on the mat",
+    "Grab the white shoe using the right arm, move it from the table to the mat",
+    "Use the right arm to lift the white shoe with curved top from the table and set it on the mat",
+    "Use the right arm to lift the the synthetic leather white shoe from the table and set it on the mat",
+    "Lift the rounded-top white shoe from the table and place it carefully on the mat",
+    "Pick up the sports shoe white and black from the table and set it on the mat",
+    "Transfer the white shoe with curved top from the table to the mat",
+    "Use the right arm to pick up the synthetic leather white shoe from the table and drop it on the mat",
+    "Using the right arm, lift the synthetic leather white shoe from the table and place it onto the mat",
+    "Grab the rounded-top white shoe from the table and place it on the mat",
+    "Use the right arm to grab the rounded-top white shoe from the table and move it to the mat",
+    "Take the rubber-soled black-striped shoe from the table and position it on the mat",
+    "Use the right arm to pick the medium shoe with synthetic material off the table and move it onto the mat",
+    "Lift the the smooth surface white shoe from the table using the right arm and place it on the mat",
+    "Take the the synthetic leather white shoe off the table and put it on the mat",
+    "Take the sports shoe white and black and put it on the mat",
+    "Use the right arm to lift the synthetic leather white shoe from the table and set it on the mat",
+    "Lift the white shoe with three stripes from the table and gently place it onto the mat",
+    "Take the rounded-top white shoe from the table and place it on the mat",
+    "Lift the white shoe with three stripes and place it on the mat",
+    "Pick up the smooth surface white shoe and move it to the mat",
+    "With the right arm, pick the smooth surface white shoe up from the table and put it on the mat",
+    "Remove the white shoe with curved top from the table and lay it on the mat",
+    "Move the medium shoe with synthetic material from the table and place it down on the mat",
+    "Grab the medium-sized shoe using the right arm and drop it on the mat",
+    "Use the right arm to grab the white shoe and transfer it to the mat",
+    "Take the sports shoe white and black from the table and carefully drop it on the mat",
+    "Using the right arm, grasp the rubber-soled black-striped shoe from the table and place it onto the mat",
+    "Pick up the white shoe with curved top with the right arm, move it from the table, and set it on the mat",
+    "Move the rubber-soled black-striped shoe from the table to the mat in one fluid motion",
+    "Take the medium shoe with synthetic material with the right arm and place it carefully on the mat",
+    "Pick the the smooth surface white shoe from the table and place it gently on the mat",
+    "Lift the smooth surface white shoe off the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the the synthetic leather white shoe from the table and set it on the mat",
+    "Pick the the smooth surface white shoe off the table and position it on the mat",
+    "Use the right arm to grab the the white shoe with black lines and put it on the mat",
+    "Grab the medium shoe with synthetic material from the table with the right arm and place it on the mat",
+    "With the right arm, grab the rounded-top white shoe off the table and place it onto the mat",
+    "Pick up the shoe with black accents with the right arm from the table and place it on the mat",
+    "Pick the rubber-soled black-striped shoe up from the table and put it on the mat",
+    "Use the right arm to pick the medium-sized shoe and position it on the mat",
+    "Grab the the white shoe with curved top on the table and move it to the mat",
+    "Take the the smooth surface white shoe from the table using the right arm and drop it on the mat"
+  ],
+  "unseen": [
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Use the right arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Use the right arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Use the right arm to lift the shoe with black stripe design and drop it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Use the right arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Use the right arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Use the right arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Use the right arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Use the right arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Use the right arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Use the right arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Use the right arm to lift the shoe with ribbed sole and drop it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode35.json b/place_shoe/demo_clean/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d44754c9829e785d2033ae9c906a4ab6d18daf4
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift the soft rubber-soled white shoe from the table and set it on the mat",
+    "Pick the the shoe for everyday walking off the table and position it on the mat",
+    "Transfer the medium-sized casual shoe from the table to the mat",
+    "Pick the medium-sized casual shoe up from the table and drop it directly on the mat",
+    "Move the shoe with black back detail from the table to the mat",
+    "With the left arm, grab the white and black combination shoe off the table and place it onto the mat",
+    "Pick up the white shoe with rounded toe with the left arm from the table and place it on the mat",
+    "Remove the white shoe from the table and lay it on the mat",
+    "Grab the sleek white walking shoe using the left arm and drop it on the mat",
+    "Lift the white shoe with rounded toe and place it on the mat",
+    "Use the left arm to grab the shoe for everyday walking and transfer it to the mat",
+    "Take the shoe for everyday walking from the table and carefully drop it on the mat",
+    "Grab the white shoe with rounded toe from the table with the left arm and place it on the mat",
+    "Use the left arm to lift the sleek white walking shoe from the table and set it on the mat",
+    "Grab the shoe for everyday walking from the table and place it on the mat",
+    "Move the medium-sized casual shoe from the table to the mat in one fluid motion",
+    "Lift the shoe for everyday walking from the table and gently place it onto the mat",
+    "Use the left arm to pick up the white shoe from the table and drop it on the mat",
+    "Use the left arm to pick the sleek white walking shoe and position it on the mat",
+    "Use the left arm to grab the soft rubber-soled white shoe from the table and move it to the mat",
+    "Pick up the soft rubber-soled white shoe and move it to the mat",
+    "Using the left arm, grasp the sleek white walking shoe from the table and place it onto the mat",
+    "Move the shoe with lace-up front from the table to the mat",
+    "Move the synthetic leather white shoe from the table and place it down on the mat",
+    "Use the left arm to pick the white shoe with rounded toe off the table and move it onto the mat",
+    "Take the white shoe with curved sole with the left arm and place it carefully on the mat",
+    "Using the left arm, lift the soft rubber-soled white shoe from the table and place it onto the mat",
+    "Take the white shoe and put it on the mat",
+    "With the left arm, grab the white shoe from the table and place it on the mat",
+    "Pick the the shoe with lace-up front from the table and place it gently on the mat",
+    "Lift the the shoe for everyday walking from the table using the left arm and place it on the mat",
+    "Use the left arm to grab the the white shoe and put it on the mat",
+    "Pick up the shoe with black back detail from the table and set it on the mat",
+    "Take the white shoe with rounded toe from the table and place it on the mat",
+    "Lift the shoe with black back detail using the left arm from the table and place it on the mat",
+    "With the left arm, pick the soft rubber-soled white shoe up from the table and put it on the mat",
+    "Retrieve the shoe with lace-up front from the table and set it on the mat",
+    "Take the synthetic leather white shoe from the table and position it on the mat",
+    "Pick the white shoe with curved sole up from the table and put it on the mat",
+    "Lift the the shoe for everyday walking from the table and place it onto the mat",
+    "Take the synthetic leather white shoe from the table and put it on the mat",
+    "Lift the white shoe off the table using the left arm and drop it on the mat",
+    "Use the left arm to lift the the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the the white shoe from the table and set it on the mat",
+    "Take the the soft rubber-soled white shoe off the table and put it on the mat",
+    "Grab the the synthetic leather white shoe on the table and move it to the mat",
+    "Take the the shoe for everyday walking from the table using the left arm and drop it on the mat",
+    "Lift the shoe for everyday walking from the table and place it carefully on the mat",
+    "Grab the sleek white walking shoe using the left arm, move it from the table to the mat",
+    "Pick up the white shoe with curved sole with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to lift the shoe with black heel patch from the table and set it on the mat",
+    "Pick the the white shoe with curved sole off the table and position it on the mat",
+    "Transfer the shoe with black back detail from the table to the mat",
+    "Pick the shoe with lace-up front up from the table and drop it directly on the mat",
+    "Move the shoe for everyday walking from the table to the mat",
+    "With the left arm, grab the synthetic leather white shoe off the table and place it onto the mat",
+    "Pick up the shoe with black back detail with the left arm from the table and place it on the mat",
+    "Remove the shoe with lace-up front from the table and lay it on the mat",
+    "Grab the medium-sized casual shoe using the left arm and drop it on the mat",
+    "Lift the white shoe and place it on the mat",
+    "Use the left arm to grab the shoe with black heel patch and transfer it to the mat",
+    "Take the synthetic leather white shoe from the table and carefully drop it on the mat",
+    "Grab the shoe for everyday walking from the table with the left arm and place it on the mat",
+    "Use the left arm to lift the sleek white walking shoe from the table and set it on the mat",
+    "Grab the sleek white walking shoe from the table and place it on the mat",
+    "Move the sleek white walking shoe from the table to the mat in one fluid motion",
+    "Lift the shoe for everyday walking from the table and gently place it onto the mat",
+    "Use the left arm to pick up the shoe with lace-up front from the table and drop it on the mat",
+    "Use the left arm to pick the white and black combination shoe and position it on the mat",
+    "Use the left arm to grab the shoe with lace-up front from the table and move it to the mat",
+    "Pick up the synthetic leather white shoe and move it to the mat",
+    "Using the left arm, grasp the sleek white walking shoe from the table and place it onto the mat",
+    "Move the medium-sized casual shoe from the table to the mat",
+    "Move the shoe with lace-up front from the table and place it down on the mat",
+    "Use the left arm to pick the shoe with lace-up front off the table and move it onto the mat",
+    "Take the shoe with black back detail with the left arm and place it carefully on the mat",
+    "Using the left arm, lift the shoe with lace-up front from the table and place it onto the mat",
+    "Take the white and black combination shoe and put it on the mat",
+    "With the left arm, grab the shoe with black heel patch from the table and place it on the mat",
+    "Pick the the soft rubber-soled white shoe from the table and place it gently on the mat",
+    "Lift the the white shoe with curved sole from the table using the left arm and place it on the mat",
+    "Use the left arm to grab the the white shoe with rounded toe and put it on the mat",
+    "Pick up the medium-sized casual shoe from the table and set it on the mat",
+    "Take the sleek white walking shoe from the table and place it on the mat",
+    "Lift the white and black combination shoe using the left arm from the table and place it on the mat",
+    "With the left arm, pick the shoe for everyday walking up from the table and put it on the mat",
+    "Retrieve the white and black combination shoe from the table and set it on the mat",
+    "Take the medium-sized casual shoe from the table and position it on the mat",
+    "Pick the shoe for everyday walking up from the table and put it on the mat",
+    "Lift the the medium-sized casual shoe from the table and place it onto the mat",
+    "Take the soft rubber-soled white shoe from the table and put it on the mat",
+    "Lift the shoe with lace-up front off the table using the left arm and drop it on the mat",
+    "Use the left arm to lift the the synthetic leather white shoe from the table and set it on the mat",
+    "Use the left arm to grab the the shoe with black heel patch from the table and set it on the mat",
+    "Take the the sleek white walking shoe off the table and put it on the mat",
+    "Grab the the white and black combination shoe on the table and move it to the mat",
+    "Take the the shoe with lace-up front from the table using the left arm and drop it on the mat",
+    "Lift the white shoe with curved sole from the table and place it carefully on the mat",
+    "Grab the sleek white walking shoe using the left arm, move it from the table to the mat",
+    "Pick up the sleek white walking shoe with the left arm, move it from the table, and set it on the mat"
+  ],
+  "unseen": [
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode36.json b/place_shoe/demo_clean/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..992c98f0d7b3944f041a125c1ab5011bb2bdde5e
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick up the dark shoe with grooves on sole from the table and drop it on the mat",
+    "Pick up the shoe with grooved bottom from the table and set it on the mat",
+    "Transfer the shoe with thick rubber sole from the table to the mat",
+    "Lift the smooth leather shoe off the table using the right arm and drop it on the mat",
+    "Pick the shoe for everyday wear up from the table and put it on the mat",
+    "Lift the smooth leather shoe and place it on the mat",
+    "Use the right arm to lift the medium-sized walking shoe from the table and set it on the mat",
+    "Take the rounded front shoe from the table and place it on the mat",
+    "Lift the rounded tip leather shoe from the table and place it carefully on the mat",
+    "Pick the the smooth leather shoe off the table and position it on the mat",
+    "Take the the shoe with grooved bottom from the table using the right arm and drop it on the mat",
+    "Lift the shoe for walking with rubber grip using the right arm from the table and place it on the mat",
+    "Pick up the rounded tip leather shoe and move it to the mat",
+    "Lift the the rounded front shoe from the table using the right arm and place it on the mat",
+    "Using the right arm, lift the dark shoe with grooves on sole from the table and place it onto the mat",
+    "Remove the rounded front shoe from the table and lay it on the mat",
+    "Use the right arm to pick the dark brown leather shoe and position it on the mat",
+    "With the right arm, grab the shoe with grooved bottom from the table and place it on the mat",
+    "Move the shoe with grooved bottom from the table and place it down on the mat",
+    "Pick up the shoe with thick rubber sole with the right arm from the table and place it on the mat",
+    "Grab the shoe with grooved bottom using the right arm, move it from the table to the mat",
+    "Use the right arm to grab the the brown shoe from the table and set it on the mat",
+    "Take the rounded front shoe and put it on the mat",
+    "Use the right arm to lift the the dark brown leather shoe from the table and set it on the mat",
+    "Pick the smooth leather shoe up from the table and drop it directly on the mat",
+    "Grab the the shoe for everyday wear on the table and move it to the mat",
+    "Use the right arm to pick the shoe with lace holes off the table and move it onto the mat",
+    "Take the smooth leather shoe with the right arm and place it carefully on the mat",
+    "Pick up the medium-sized walking shoe with the right arm, move it from the table, and set it on the mat",
+    "Retrieve the medium-sized walking shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe with lace holes from the table and set it on the mat",
+    "Grab the brown shoe from the table and place it on the mat",
+    "Use the right arm to grab the shoe with grooved bottom and transfer it to the mat",
+    "Grab the dark brown leather shoe using the right arm and drop it on the mat",
+    "Take the medium-sized walking shoe from the table and carefully drop it on the mat",
+    "Move the rounded tip leather shoe from the table to the mat",
+    "Use the right arm to grab the dark shoe with grooves on sole from the table and move it to the mat",
+    "Take the the shoe for walking with rubber grip off the table and put it on the mat",
+    "Using the right arm, grasp the dark shoe with grooves on sole from the table and place it onto the mat",
+    "Pick the the shoe with thick rubber sole from the table and place it gently on the mat",
+    "Take the rounded front shoe from the table and put it on the mat",
+    "Lift the the shoe with grooved bottom from the table and place it onto the mat",
+    "Move the brown shoe from the table to the mat",
+    "Move the smooth leather shoe from the table to the mat in one fluid motion",
+    "Take the brown shoe from the table and position it on the mat",
+    "With the right arm, grab the brown shoe off the table and place it onto the mat",
+    "Use the right arm to grab the the dark brown leather shoe and put it on the mat",
+    "Lift the medium-sized walking shoe from the table and gently place it onto the mat",
+    "With the right arm, pick the shoe with lace holes up from the table and put it on the mat",
+    "Grab the shoe for walking with rubber grip from the table with the right arm and place it on the mat",
+    "Use the right arm to pick up the shoe with lace holes from the table and drop it on the mat",
+    "Pick up the shoe with thick rubber sole from the table and set it on the mat",
+    "Transfer the shoe with grooved bottom from the table to the mat",
+    "Lift the rounded tip leather shoe off the table using the right arm and drop it on the mat",
+    "Pick the shoe with thick rubber sole up from the table and put it on the mat",
+    "Lift the dark brown leather shoe and place it on the mat",
+    "Use the right arm to lift the dark brown leather shoe from the table and set it on the mat",
+    "Take the shoe with lace holes from the table and place it on the mat",
+    "Lift the shoe with lace holes from the table and place it carefully on the mat",
+    "Pick the the shoe for everyday wear off the table and position it on the mat",
+    "Take the the shoe with lace holes from the table using the right arm and drop it on the mat",
+    "Lift the brown shoe using the right arm from the table and place it on the mat",
+    "Pick up the dark brown leather shoe and move it to the mat",
+    "Lift the the smooth leather shoe from the table using the right arm and place it on the mat",
+    "Using the right arm, lift the rounded front shoe from the table and place it onto the mat",
+    "Remove the shoe for walking with rubber grip from the table and lay it on the mat",
+    "Use the right arm to pick the rounded front shoe and position it on the mat",
+    "With the right arm, grab the shoe with lace holes from the table and place it on the mat",
+    "Move the rounded tip leather shoe from the table and place it down on the mat",
+    "Pick up the shoe for walking with rubber grip with the right arm from the table and place it on the mat",
+    "Grab the shoe with lace holes using the right arm, move it from the table to the mat",
+    "Use the right arm to grab the the shoe with lace holes from the table and set it on the mat",
+    "Take the dark shoe with grooves on sole and put it on the mat",
+    "Use the right arm to lift the the brown shoe from the table and set it on the mat",
+    "Pick the smooth leather shoe up from the table and drop it directly on the mat",
+    "Grab the the shoe for everyday wear on the table and move it to the mat",
+    "Use the right arm to pick the dark shoe with grooves on sole off the table and move it onto the mat",
+    "Take the rounded tip leather shoe with the right arm and place it carefully on the mat",
+    "Pick up the dark brown leather shoe with the right arm, move it from the table, and set it on the mat",
+    "Retrieve the brown shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe with lace holes from the table and set it on the mat",
+    "Grab the shoe with grooved bottom from the table and place it on the mat",
+    "Use the right arm to grab the shoe with lace holes and transfer it to the mat",
+    "Grab the rounded front shoe using the right arm and drop it on the mat",
+    "Take the medium-sized walking shoe from the table and carefully drop it on the mat",
+    "Move the shoe with grooved bottom from the table to the mat",
+    "Use the right arm to grab the shoe for everyday wear from the table and move it to the mat",
+    "Take the the shoe with grooved bottom off the table and put it on the mat",
+    "Using the right arm, grasp the rounded tip leather shoe from the table and place it onto the mat",
+    "Pick the the rounded tip leather shoe from the table and place it gently on the mat",
+    "Take the shoe for walking with rubber grip from the table and put it on the mat",
+    "Lift the the medium-sized walking shoe from the table and place it onto the mat",
+    "Move the dark brown leather shoe from the table to the mat",
+    "Move the rounded tip leather shoe from the table to the mat in one fluid motion",
+    "Take the smooth leather shoe from the table and position it on the mat",
+    "With the right arm, grab the rounded front shoe off the table and place it onto the mat",
+    "Use the right arm to grab the the shoe for everyday wear and put it on the mat",
+    "Lift the shoe with lace holes from the table and gently place it onto the mat",
+    "With the right arm, pick the brown shoe up from the table and put it on the mat",
+    "Grab the shoe for everyday wear from the table with the right arm and place it on the mat"
+  ],
+  "unseen": [
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode37.json b/place_shoe/demo_clean/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a1eb913329f2ff7675b4ddb21a9f3a6c2e32ab7
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the white shoe with red tag and put it on the mat",
+    "Use the right arm to lift the lace-up canvas shoe from the table and set it on the mat",
+    "Take the the lace-up sneaker from the table using the right arm and drop it on the mat",
+    "Take the lace-up sneaker from the table and carefully drop it on the mat",
+    "Pick up the medium-sized adult shoe with the right arm, move it from the table, and set it on the mat",
+    "Move the shoe with flat rubber sole from the table to the mat",
+    "Pick the lace-up sneaker up from the table and put it on the mat",
+    "Use the right arm to pick the lace-up sneaker off the table and move it onto the mat",
+    "Grab the white shoe with red tag from the table with the right arm and place it on the mat",
+    "Use the right arm to grab the rounded front shoe from the table and move it to the mat",
+    "Grab the the lace-up sneaker on the table and move it to the mat",
+    "With the right arm, pick the white shoe with flat sole up from the table and put it on the mat",
+    "Take the shoe with flat rubber sole from the table and position it on the mat",
+    "Using the right arm, grasp the white shoe with flat sole from the table and place it onto the mat",
+    "Move the rounded front shoe from the table and place it down on the mat",
+    "Take the rubber sole shoe with the right arm and place it carefully on the mat",
+    "Using the right arm, lift the rubber sole shoe from the table and place it onto the mat",
+    "Move the white sneaker with red accents from the table to the mat in one fluid motion",
+    "Pick up the shoe with flat rubber sole with the right arm from the table and place it on the mat",
+    "Use the right arm to grab the the medium-sized adult shoe from the table and set it on the mat",
+    "Pick up the comfortable white and red shoe and move it to the mat",
+    "Lift the white shoe with flat sole from the table and gently place it onto the mat",
+    "Lift the lace-up canvas shoe off the table using the right arm and drop it on the mat",
+    "Take the medium-sized adult shoe from the table and put it on the mat",
+    "Grab the classic sneaker design shoe using the right arm and drop it on the mat",
+    "Pick the the white shoe with red tag off the table and position it on the mat",
+    "Retrieve the rounded front shoe from the table and set it on the mat",
+    "Remove the white sneaker with red accents from the table and lay it on the mat",
+    "Grab the canvas shoe with grooved sole using the right arm, move it from the table to the mat",
+    "Use the right arm to lift the the shoe with flat rubber sole from the table and set it on the mat",
+    "Use the right arm to pick the lace-up canvas shoe and position it on the mat",
+    "Lift the rounded front shoe using the right arm from the table and place it on the mat",
+    "Use the right arm to lift the comfortable white and red shoe from the table and set it on the mat",
+    "Pick up the rubber sole shoe from the table and set it on the mat",
+    "Transfer the lace-up canvas shoe from the table to the mat",
+    "Take the rounded front shoe from the table and place it on the mat",
+    "Pick the the comfortable white and red shoe from the table and place it gently on the mat",
+    "Lift the the shoe with flat rubber sole from the table using the right arm and place it on the mat",
+    "Pick the classic sneaker design shoe up from the table and drop it directly on the mat",
+    "Lift the the classic sneaker design shoe from the table and place it onto the mat",
+    "With the right arm, grab the lace-up canvas shoe off the table and place it onto the mat",
+    "Grab the shoe with flat rubber sole from the table and place it on the mat",
+    "Lift the rubber sole shoe and place it on the mat",
+    "Use the right arm to grab the lace-up canvas shoe and transfer it to the mat",
+    "Lift the lace-up sneaker from the table and place it carefully on the mat",
+    "Use the right arm to pick up the shoe with flat rubber sole from the table and drop it on the mat",
+    "With the right arm, grab the rounded front shoe from the table and place it on the mat",
+    "Take the the white shoe with flat sole off the table and put it on the mat",
+    "Use the right arm to grab the the rubber sole shoe and put it on the mat",
+    "Move the white shoe with flat sole from the table to the mat",
+    "Take the shoe with flat rubber sole and put it on the mat",
+    "Use the right arm to lift the shoe with flat rubber sole from the table and set it on the mat",
+    "Take the the shoe with flat rubber sole from the table using the right arm and drop it on the mat",
+    "Take the canvas shoe with grooved sole from the table and carefully drop it on the mat",
+    "Pick up the classic sneaker design shoe with the right arm, move it from the table, and set it on the mat",
+    "Move the rubber sole shoe from the table to the mat",
+    "Pick the shoe with flat rubber sole up from the table and put it on the mat",
+    "Use the right arm to pick the comfortable white and red shoe off the table and move it onto the mat",
+    "Grab the white sneaker with red accents from the table with the right arm and place it on the mat",
+    "Use the right arm to grab the medium-sized adult shoe from the table and move it to the mat",
+    "Grab the the white sneaker with red accents on the table and move it to the mat",
+    "With the right arm, pick the classic sneaker design shoe up from the table and put it on the mat",
+    "Take the rounded front shoe from the table and position it on the mat",
+    "Using the right arm, grasp the white shoe with flat sole from the table and place it onto the mat",
+    "Move the white sneaker with red accents from the table and place it down on the mat",
+    "Take the lace-up canvas shoe with the right arm and place it carefully on the mat",
+    "Using the right arm, lift the medium-sized adult shoe from the table and place it onto the mat",
+    "Move the rubber sole shoe from the table to the mat in one fluid motion",
+    "Pick up the comfortable white and red shoe with the right arm from the table and place it on the mat",
+    "Use the right arm to grab the the comfortable white and red shoe from the table and set it on the mat",
+    "Pick up the comfortable white and red shoe and move it to the mat",
+    "Lift the lace-up canvas shoe from the table and gently place it onto the mat",
+    "Lift the rounded front shoe off the table using the right arm and drop it on the mat",
+    "Take the white shoe with red tag from the table and put it on the mat",
+    "Grab the white sneaker with red accents using the right arm and drop it on the mat",
+    "Pick the the shoe with flat rubber sole off the table and position it on the mat",
+    "Retrieve the medium-sized adult shoe from the table and set it on the mat",
+    "Remove the classic sneaker design shoe from the table and lay it on the mat",
+    "Grab the canvas shoe with grooved sole using the right arm, move it from the table to the mat",
+    "Use the right arm to lift the the shoe with flat rubber sole from the table and set it on the mat",
+    "Use the right arm to pick the shoe with flat rubber sole and position it on the mat",
+    "Lift the shoe with flat rubber sole using the right arm from the table and place it on the mat",
+    "Use the right arm to lift the lace-up sneaker from the table and set it on the mat",
+    "Pick up the white shoe with flat sole from the table and set it on the mat",
+    "Transfer the white shoe with red tag from the table to the mat",
+    "Take the canvas shoe with grooved sole from the table and place it on the mat",
+    "Pick the the rubber sole shoe from the table and place it gently on the mat",
+    "Lift the the white sneaker with red accents from the table using the right arm and place it on the mat",
+    "Pick the white shoe with red tag up from the table and drop it directly on the mat",
+    "Lift the the white shoe with red tag from the table and place it onto the mat",
+    "With the right arm, grab the rubber sole shoe off the table and place it onto the mat",
+    "Grab the rubber sole shoe from the table and place it on the mat",
+    "Lift the classic sneaker design shoe and place it on the mat",
+    "Use the right arm to grab the white shoe with red tag and transfer it to the mat",
+    "Lift the canvas shoe with grooved sole from the table and place it carefully on the mat",
+    "Use the right arm to pick up the white shoe with flat sole from the table and drop it on the mat",
+    "With the right arm, grab the canvas shoe with grooved sole from the table and place it on the mat",
+    "Take the the medium-sized adult shoe off the table and put it on the mat",
+    "Use the right arm to grab the the white shoe with red tag and put it on the mat",
+    "Move the comfortable white and red shoe from the table to the mat"
+  ],
+  "unseen": [
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Use the right arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the right arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Use the right arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Use the right arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the right arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Use the right arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the right arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the right arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the right arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Use the right arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Use the right arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode38.json b/place_shoe/demo_clean/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..729588bb0391adef14a4ac4f3d5e9937a9fc80c8
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the synthetic leather shoe from the table and place it carefully on the mat",
+    "Use the right arm to grab the rubber sole shoe from the table and move it to the mat",
+    "Pick up the shoe with textured sole with the right arm, move it from the table, and set it on the mat",
+    "With the right arm, pick the shoe with textured sole up from the table and put it on the mat",
+    "Pick the the white shoe with rubber sole from the table and place it gently on the mat",
+    "Remove the white shoe with rubber sole from the table and lay it on the mat",
+    "Grab the the shoe for walking on the table and move it to the mat",
+    "Use the right arm to grab the medium-sized rounded white shoe and transfer it to the mat",
+    "Lift the shoe for walking using the right arm from the table and place it on the mat",
+    "Pick the white shoe with rubber sole up from the table and drop it directly on the mat",
+    "Retrieve the white shoe with rubber sole from the table and set it on the mat",
+    "Pick up the medium-sized rounded white shoe with the right arm from the table and place it on the mat",
+    "Lift the medium-sized rounded white shoe and place it on the mat",
+    "Use the right arm to pick the shoe with patterned bottom off the table and move it onto the mat",
+    "Pick up the smooth white shoe and move it to the mat",
+    "Grab the shoe with patterned bottom from the table with the right arm and place it on the mat",
+    "Move the shoe for walking from the table to the mat",
+    "Transfer the synthetic leather shoe from the table to the mat",
+    "Pick the the medium white shoe off the table and position it on the mat",
+    "Move the white shoe with rubber sole from the table to the mat in one fluid motion",
+    "Grab the white sneaker shoe using the right arm and drop it on the mat",
+    "Using the right arm, grasp the shoe with patterned bottom from the table and place it onto the mat",
+    "Use the right arm to lift the shoe for walking from the table and set it on the mat",
+    "Grab the shoe with patterned bottom using the right arm, move it from the table to the mat",
+    "Use the right arm to lift the shoe with curved sole from the table and set it on the mat",
+    "With the right arm, grab the shoe for walking off the table and place it onto the mat",
+    "Use the right arm to lift the the shoe with textured sole from the table and set it on the mat",
+    "Lift the the shoe with curved sole from the table and place it onto the mat",
+    "Use the right arm to grab the the white sneaker shoe and put it on the mat",
+    "Use the right arm to grab the the smooth white shoe from the table and set it on the mat",
+    "Pick up the rubber sole shoe from the table and set it on the mat",
+    "Lift the the medium white shoe from the table using the right arm and place it on the mat",
+    "Using the right arm, lift the white shoe with rubber sole from the table and place it onto the mat",
+    "Lift the shoe with curved sole off the table using the right arm and drop it on the mat",
+    "Take the medium white shoe with the right arm and place it carefully on the mat",
+    "Take the the shoe for walking off the table and put it on the mat",
+    "Take the synthetic leather shoe from the table and position it on the mat",
+    "Use the right arm to pick the white shoe with rubber sole and position it on the mat",
+    "Grab the shoe with curved sole from the table and place it on the mat",
+    "Take the shoe for walking from the table and carefully drop it on the mat",
+    "Take the smooth white shoe from the table and put it on the mat",
+    "Lift the shoe with curved sole from the table and gently place it onto the mat",
+    "Pick the shoe with textured sole up from the table and put it on the mat",
+    "Take the the shoe with patterned bottom from the table using the right arm and drop it on the mat",
+    "Use the right arm to pick up the white shoe with rubber sole from the table and drop it on the mat",
+    "Take the smooth white shoe from the table and place it on the mat",
+    "Move the shoe with patterned bottom from the table and place it down on the mat",
+    "Take the white shoe with rubber sole and put it on the mat",
+    "Move the rubber sole shoe from the table to the mat",
+    "With the right arm, grab the shoe with lace holes from the table and place it on the mat",
+    "Lift the shoe with lace holes from the table and place it carefully on the mat",
+    "Use the right arm to grab the white sneaker shoe from the table and move it to the mat",
+    "Pick up the smooth white shoe with the right arm, move it from the table, and set it on the mat",
+    "With the right arm, pick the shoe with textured sole up from the table and put it on the mat",
+    "Pick the the medium-sized rounded white shoe from the table and place it gently on the mat",
+    "Remove the shoe for walking from the table and lay it on the mat",
+    "Grab the the shoe with curved sole on the table and move it to the mat",
+    "Use the right arm to grab the shoe with patterned bottom and transfer it to the mat",
+    "Lift the white sneaker shoe using the right arm from the table and place it on the mat",
+    "Pick the rubber sole shoe up from the table and drop it directly on the mat",
+    "Retrieve the shoe with lace holes from the table and set it on the mat",
+    "Pick up the shoe with lace holes with the right arm from the table and place it on the mat",
+    "Lift the shoe with patterned bottom and place it on the mat",
+    "Use the right arm to pick the smooth white shoe off the table and move it onto the mat",
+    "Pick up the smooth white shoe and move it to the mat",
+    "Grab the white shoe with rubber sole from the table with the right arm and place it on the mat",
+    "Move the smooth white shoe from the table to the mat",
+    "Transfer the shoe with textured sole from the table to the mat",
+    "Pick the the white sneaker shoe off the table and position it on the mat",
+    "Move the synthetic leather shoe from the table to the mat in one fluid motion",
+    "Grab the medium white shoe using the right arm and drop it on the mat",
+    "Using the right arm, grasp the rubber sole shoe from the table and place it onto the mat",
+    "Use the right arm to lift the shoe with lace holes from the table and set it on the mat",
+    "Grab the shoe with curved sole using the right arm, move it from the table to the mat",
+    "Use the right arm to lift the shoe with lace holes from the table and set it on the mat",
+    "With the right arm, grab the shoe for walking off the table and place it onto the mat",
+    "Use the right arm to lift the the shoe with textured sole from the table and set it on the mat",
+    "Lift the the synthetic leather shoe from the table and place it onto the mat",
+    "Use the right arm to grab the the shoe with textured sole and put it on the mat",
+    "Use the right arm to grab the the synthetic leather shoe from the table and set it on the mat",
+    "Pick up the shoe with lace holes from the table and set it on the mat",
+    "Lift the the synthetic leather shoe from the table using the right arm and place it on the mat",
+    "Using the right arm, lift the synthetic leather shoe from the table and place it onto the mat",
+    "Lift the white sneaker shoe off the table using the right arm and drop it on the mat",
+    "Take the rubber sole shoe with the right arm and place it carefully on the mat",
+    "Take the the shoe for walking off the table and put it on the mat",
+    "Take the shoe with curved sole from the table and position it on the mat",
+    "Use the right arm to pick the white sneaker shoe and position it on the mat",
+    "Grab the white shoe with rubber sole from the table and place it on the mat",
+    "Take the medium white shoe from the table and carefully drop it on the mat",
+    "Take the shoe with curved sole from the table and put it on the mat",
+    "Lift the medium-sized rounded white shoe from the table and gently place it onto the mat",
+    "Pick the shoe with lace holes up from the table and put it on the mat",
+    "Take the the synthetic leather shoe from the table using the right arm and drop it on the mat",
+    "Use the right arm to pick up the smooth white shoe from the table and drop it on the mat",
+    "Take the medium-sized rounded white shoe from the table and place it on the mat",
+    "Move the rubber sole shoe from the table and place it down on the mat",
+    "Take the synthetic leather shoe and put it on the mat",
+    "Move the medium white shoe from the table to the mat",
+    "With the right arm, grab the shoe with patterned bottom from the table and place it on the mat"
+  ],
+  "unseen": [
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode39.json b/place_shoe/demo_clean/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..116418fc8b73311681227a8a26bd0bd0ac608473
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the the medium shoe with synthetic material from the table and set it on the mat",
+    "Take the white shoe with curved top from the table and put it on the mat",
+    "Lift the white shoe with curved top off the table using the right arm and drop it on the mat",
+    "Grab the medium shoe with synthetic material using the right arm and drop it on the mat",
+    "Use the right arm to pick the rubber-soled black-striped shoe off the table and move it onto the mat",
+    "Using the right arm, grasp the medium-sized shoe from the table and place it onto the mat",
+    "Grab the rubber-soled black-striped shoe from the table with the right arm and place it on the mat",
+    "Lift the shoe with black accents from the table and place it carefully on the mat",
+    "Take the rubber-soled black-striped shoe with the right arm and place it carefully on the mat",
+    "Move the white shoe with black lines from the table and place it down on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to pick the white shoe with curved top and position it on the mat",
+    "Lift the sports shoe white and black using the right arm from the table and place it on the mat",
+    "Grab the white shoe with curved top using the right arm, move it from the table to the mat",
+    "Use the right arm to grab the rounded-top white shoe and transfer it to the mat",
+    "Use the right arm to lift the medium-sized shoe from the table and set it on the mat",
+    "With the right arm, grab the synthetic leather white shoe off the table and place it onto the mat",
+    "Lift the the white shoe from the table and place it onto the mat",
+    "Move the white shoe with curved top from the table to the mat",
+    "Take the smooth surface white shoe from the table and position it on the mat",
+    "Pick up the white shoe with black lines and move it to the mat",
+    "Move the rubber-soled black-striped shoe from the table to the mat in one fluid motion",
+    "With the right arm, pick the shoe with black accents up from the table and put it on the mat",
+    "Lift the medium-sized shoe and place it on the mat",
+    "Pick up the medium-sized shoe with the right arm, move it from the table, and set it on the mat",
+    "Take the white shoe from the table and carefully drop it on the mat",
+    "Take the synthetic leather white shoe from the table and place it on the mat",
+    "Lift the rounded-top white shoe from the table and gently place it onto the mat",
+    "Pick the medium shoe with synthetic material up from the table and put it on the mat",
+    "Remove the medium shoe with synthetic material from the table and lay it on the mat",
+    "Grab the smooth surface white shoe from the table and place it on the mat",
+    "Transfer the white shoe with curved top from the table to the mat",
+    "Use the right arm to grab the white shoe from the table and move it to the mat",
+    "Use the right arm to lift the the white shoe with three stripes from the table and set it on the mat",
+    "Use the right arm to lift the shoe with black accents from the table and set it on the mat",
+    "Move the white shoe with black lines from the table to the mat",
+    "Retrieve the sports shoe white and black from the table and set it on the mat",
+    "Pick the rounded-top white shoe up from the table and drop it directly on the mat",
+    "Use the right arm to pick up the synthetic leather white shoe from the table and drop it on the mat",
+    "Grab the the synthetic leather white shoe on the table and move it to the mat",
+    "Take the rounded-top white shoe and put it on the mat",
+    "Lift the the synthetic leather white shoe from the table using the right arm and place it on the mat",
+    "Use the right arm to grab the the rubber-soled black-striped shoe and put it on the mat",
+    "Pick up the synthetic leather white shoe with the right arm from the table and place it on the mat",
+    "With the right arm, grab the rubber-soled black-striped shoe from the table and place it on the mat",
+    "Take the the white shoe off the table and put it on the mat",
+    "Using the right arm, lift the medium-sized shoe from the table and place it onto the mat",
+    "Pick the the white shoe from the table and place it gently on the mat",
+    "Pick the the synthetic leather white shoe off the table and position it on the mat",
+    "Take the the rounded-top white shoe from the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the the sports shoe white and black from the table and set it on the mat",
+    "Take the sports shoe white and black from the table and put it on the mat",
+    "Lift the medium-sized shoe off the table using the right arm and drop it on the mat",
+    "Grab the white shoe with three stripes using the right arm and drop it on the mat",
+    "Use the right arm to pick the medium-sized shoe off the table and move it onto the mat",
+    "Using the right arm, grasp the white shoe from the table and place it onto the mat",
+    "Grab the rounded-top white shoe from the table with the right arm and place it on the mat",
+    "Lift the sports shoe white and black from the table and place it carefully on the mat",
+    "Take the white shoe with three stripes with the right arm and place it carefully on the mat",
+    "Move the sports shoe white and black from the table and place it down on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to pick the white shoe with black lines and position it on the mat",
+    "Lift the white shoe with black lines using the right arm from the table and place it on the mat",
+    "Grab the white shoe using the right arm, move it from the table to the mat",
+    "Use the right arm to grab the shoe with black accents and transfer it to the mat",
+    "Use the right arm to lift the white shoe with three stripes from the table and set it on the mat",
+    "With the right arm, grab the medium-sized shoe off the table and place it onto the mat",
+    "Lift the the white shoe from the table and place it onto the mat",
+    "Move the medium-sized shoe from the table to the mat",
+    "Take the white shoe from the table and position it on the mat",
+    "Pick up the white shoe with black lines and move it to the mat",
+    "Move the white shoe with curved top from the table to the mat in one fluid motion",
+    "With the right arm, pick the rounded-top white shoe up from the table and put it on the mat",
+    "Lift the smooth surface white shoe and place it on the mat",
+    "Pick up the shoe with black accents with the right arm, move it from the table, and set it on the mat",
+    "Take the rubber-soled black-striped shoe from the table and carefully drop it on the mat",
+    "Take the white shoe with curved top from the table and place it on the mat",
+    "Lift the sports shoe white and black from the table and gently place it onto the mat",
+    "Pick the shoe with black accents up from the table and put it on the mat",
+    "Remove the white shoe with curved top from the table and lay it on the mat",
+    "Grab the sports shoe white and black from the table and place it on the mat",
+    "Transfer the sports shoe white and black from the table to the mat",
+    "Use the right arm to grab the shoe with black accents from the table and move it to the mat",
+    "Use the right arm to lift the the shoe with black accents from the table and set it on the mat",
+    "Use the right arm to lift the white shoe with three stripes from the table and set it on the mat",
+    "Move the smooth surface white shoe from the table to the mat",
+    "Retrieve the white shoe with black lines from the table and set it on the mat",
+    "Pick the shoe with black accents up from the table and drop it directly on the mat",
+    "Use the right arm to pick up the smooth surface white shoe from the table and drop it on the mat",
+    "Grab the the rubber-soled black-striped shoe on the table and move it to the mat",
+    "Take the synthetic leather white shoe and put it on the mat",
+    "Lift the the white shoe with curved top from the table using the right arm and place it on the mat",
+    "Use the right arm to grab the the medium-sized shoe and put it on the mat",
+    "Pick up the white shoe with black lines with the right arm from the table and place it on the mat",
+    "With the right arm, grab the smooth surface white shoe from the table and place it on the mat",
+    "Take the the smooth surface white shoe off the table and put it on the mat",
+    "Using the right arm, lift the rubber-soled black-striped shoe from the table and place it onto the mat",
+    "Pick the the smooth surface white shoe from the table and place it gently on the mat",
+    "Pick the the white shoe off the table and position it on the mat",
+    "Take the the sports shoe white and black from the table using the right arm and drop it on the mat"
+  ],
+  "unseen": [
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Use the right arm to lift the shoe with black stripe design and drop it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the right arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Use the right arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the right arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Use the right arm to lift the shoe with black stripe design and drop it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the right arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Use the right arm to lift the shoe with black stripe design and drop it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the right arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Use the right arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Use the right arm to lift the shoe with black stripe design and drop it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the right arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Use the right arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Use the right arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the right arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Use the right arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the right arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Use the right arm to lift the shoe with black stripe design and drop it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the right arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode4.json b/place_shoe/demo_clean/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..8769101a1c501fda6b91f28e55a243278e36da2c
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the shoe with synthetic fabric body with the left arm from the table and place it on the mat",
+    "Pick the white and green shoe up from the table and drop it directly on the mat",
+    "Use the left arm to grab the medium-sized green walking shoe and transfer it to the mat",
+    "Use the left arm to lift the the rubber-soled green sneaker from the table and set it on the mat",
+    "Lift the shoe with thick ribbed sole using the left arm from the table and place it on the mat",
+    "Take the footwear with padded heel and put it on the mat",
+    "Use the left arm to grab the the shoe with beige sole from the table and set it on the mat",
+    "Using the left arm, grasp the medium-sized green walking shoe from the table and place it onto the mat",
+    "Lift the white and green shoe off the table using the left arm and drop it on the mat",
+    "Lift the shoe with beige sole and place it on the mat",
+    "Move the shoe with thick ribbed sole from the table to the mat",
+    "Take the the shoe with synthetic fabric body from the table using the left arm and drop it on the mat",
+    "Pick the the sports shoe green with beige sole off the table and position it on the mat",
+    "With the left arm, grab the rubber-soled green sneaker off the table and place it onto the mat",
+    "Lift the the shoe with synthetic fabric body from the table using the left arm and place it on the mat",
+    "Use the left arm to grab the the shoe with thick ribbed sole and put it on the mat",
+    "Retrieve the rubber-soled green sneaker from the table and set it on the mat",
+    "Grab the the shoe with beige sole on the table and move it to the mat",
+    "Take the shoe with thick ribbed sole with the left arm and place it carefully on the mat",
+    "Use the left arm to lift the green lace-up sneaker from the table and set it on the mat",
+    "With the left arm, grab the sports shoe green with beige sole from the table and place it on the mat",
+    "Grab the white and green shoe using the left arm and drop it on the mat",
+    "Use the left arm to pick the medium-sized green walking shoe and position it on the mat",
+    "Move the white-laced green running shoe from the table and place it down on the mat",
+    "Grab the white-laced green running shoe from the table and place it on the mat",
+    "Pick the the shoe with beige sole from the table and place it gently on the mat",
+    "Lift the the footwear with padded heel from the table and place it onto the mat",
+    "Take the shoe with beige sole from the table and place it on the mat",
+    "With the left arm, pick the footwear with padded heel up from the table and put it on the mat",
+    "Using the left arm, lift the smooth green shoe with laces from the table and place it onto the mat",
+    "Lift the shoe with synthetic fabric body from the table and place it carefully on the mat",
+    "Take the footwear with padded heel from the table and put it on the mat",
+    "Use the left arm to pick up the medium-sized green walking shoe from the table and drop it on the mat",
+    "Lift the medium-sized green walking shoe from the table and gently place it onto the mat",
+    "Pick up the white and green shoe with the left arm, move it from the table, and set it on the mat",
+    "Grab the footwear with padded heel using the left arm, move it from the table to the mat",
+    "Pick up the green upper white logo shoe and move it to the mat",
+    "Pick the rubber-soled green sneaker up from the table and put it on the mat",
+    "Move the smooth green shoe with laces from the table to the mat",
+    "Use the left arm to lift the white-laced green running shoe from the table and set it on the mat",
+    "Remove the shoe with thick ribbed sole from the table and lay it on the mat",
+    "Use the left arm to pick the shoe with beige sole off the table and move it onto the mat",
+    "Move the shoe with thick ribbed sole from the table to the mat in one fluid motion",
+    "Take the the white and green shoe off the table and put it on the mat",
+    "Transfer the smooth green shoe with laces from the table to the mat",
+    "Take the footwear with padded heel from the table and position it on the mat",
+    "Grab the green lace-up sneaker from the table with the left arm and place it on the mat",
+    "Take the white-laced green running shoe from the table and carefully drop it on the mat",
+    "Pick up the rubber-soled green sneaker from the table and set it on the mat",
+    "Use the left arm to grab the sports shoe green with beige sole from the table and move it to the mat",
+    "Pick up the green lace-up sneaker with the left arm from the table and place it on the mat",
+    "Pick the white and green shoe up from the table and drop it directly on the mat",
+    "Use the left arm to grab the footwear with padded heel and transfer it to the mat",
+    "Use the left arm to lift the the shoe with beige sole from the table and set it on the mat",
+    "Lift the smooth green shoe with laces using the left arm from the table and place it on the mat",
+    "Take the sports shoe green with beige sole and put it on the mat",
+    "Use the left arm to grab the the white and green shoe from the table and set it on the mat",
+    "Using the left arm, grasp the green upper white logo shoe from the table and place it onto the mat",
+    "Lift the green lace-up sneaker off the table using the left arm and drop it on the mat",
+    "Lift the medium-sized green walking shoe and place it on the mat",
+    "Move the white-laced green running shoe from the table to the mat",
+    "Take the the green lace-up sneaker from the table using the left arm and drop it on the mat",
+    "Pick the the shoe with beige sole off the table and position it on the mat",
+    "With the left arm, grab the green upper white logo shoe off the table and place it onto the mat",
+    "Lift the the medium-sized green walking shoe from the table using the left arm and place it on the mat",
+    "Use the left arm to grab the the white and green shoe and put it on the mat",
+    "Retrieve the rubber-soled green sneaker from the table and set it on the mat",
+    "Grab the the white and green shoe on the table and move it to the mat",
+    "Take the shoe with thick ribbed sole with the left arm and place it carefully on the mat",
+    "Use the left arm to lift the green lace-up sneaker from the table and set it on the mat",
+    "With the left arm, grab the green lace-up sneaker from the table and place it on the mat",
+    "Grab the medium-sized green walking shoe using the left arm and drop it on the mat",
+    "Use the left arm to pick the green lace-up sneaker and position it on the mat",
+    "Move the smooth green shoe with laces from the table and place it down on the mat",
+    "Grab the green upper white logo shoe from the table and place it on the mat",
+    "Pick the the shoe with synthetic fabric body from the table and place it gently on the mat",
+    "Lift the the green lace-up sneaker from the table and place it onto the mat",
+    "Take the medium-sized green walking shoe from the table and place it on the mat",
+    "With the left arm, pick the shoe with beige sole up from the table and put it on the mat",
+    "Using the left arm, lift the green lace-up sneaker from the table and place it onto the mat",
+    "Lift the sports shoe green with beige sole from the table and place it carefully on the mat",
+    "Take the rubber-soled green sneaker from the table and put it on the mat",
+    "Use the left arm to pick up the rubber-soled green sneaker from the table and drop it on the mat",
+    "Lift the sports shoe green with beige sole from the table and gently place it onto the mat",
+    "Pick up the green lace-up sneaker with the left arm, move it from the table, and set it on the mat",
+    "Grab the shoe with thick ribbed sole using the left arm, move it from the table to the mat",
+    "Pick up the shoe with beige sole and move it to the mat",
+    "Pick the white-laced green running shoe up from the table and put it on the mat",
+    "Move the shoe with thick ribbed sole from the table to the mat",
+    "Use the left arm to lift the white-laced green running shoe from the table and set it on the mat",
+    "Remove the white-laced green running shoe from the table and lay it on the mat",
+    "Use the left arm to pick the shoe with synthetic fabric body off the table and move it onto the mat",
+    "Move the white and green shoe from the table to the mat in one fluid motion",
+    "Take the the sports shoe green with beige sole off the table and put it on the mat",
+    "Transfer the medium-sized green walking shoe from the table to the mat",
+    "Take the shoe with beige sole from the table and position it on the mat",
+    "Grab the white-laced green running shoe from the table with the left arm and place it on the mat",
+    "Take the sports shoe green with beige sole from the table and carefully drop it on the mat",
+    "Pick up the shoe with beige sole from the table and set it on the mat",
+    "Use the left arm to grab the white and green shoe from the table and move it to the mat"
+  ],
+  "unseen": [
+    "Pick up the the beige-soled walking sneaker from the table and place it on the mat",
+    "Pick up the running shoe with laces from the table and set it on the mat",
+    "Grab the running shoe with laces and set it on the mat",
+    "Use the left arm to lift the beige-soled walking sneaker and drop it on the mat",
+    "Pick up the green shoe from the table and set it on the mat",
+    "Use the left arm to grab the running shoe with laces from the table and place it on the mat",
+    "Grab the the running shoe with laces from the table and set it on the mat",
+    "Grab the green shoe from the table and place it on the mat",
+    "Pick up the green shoe from the table and set it down on the mat",
+    "Grab the green shoe off the table and drop it on the mat",
+    "Pick up the the running shoe with laces from the table and place it on the mat",
+    "Pick up the beige-soled walking sneaker from the table and set it on the mat",
+    "Grab the beige-soled walking sneaker and set it on the mat",
+    "Use the left arm to lift the running shoe with laces and drop it on the mat",
+    "Pick up the running shoe with laces from the table and set it on the mat",
+    "Use the left arm to grab the running shoe with laces from the table and place it on the mat",
+    "Grab the the beige-soled walking sneaker from the table and set it on the mat",
+    "Grab the beige-soled walking sneaker from the table and place it on the mat",
+    "Pick up the green shoe from the table and set it down on the mat",
+    "Grab the green shoe off the table and drop it on the mat",
+    "Pick up the the beige-soled walking sneaker from the table and place it on the mat",
+    "Pick up the green shoe from the table and set it on the mat",
+    "Grab the beige-soled walking sneaker and set it on the mat",
+    "Use the left arm to lift the green shoe and drop it on the mat",
+    "Pick up the running shoe with laces from the table and set it on the mat",
+    "Use the left arm to grab the beige-soled walking sneaker from the table and place it on the mat",
+    "Grab the the running shoe with laces from the table and set it on the mat",
+    "Grab the running shoe with laces from the table and place it on the mat",
+    "Pick up the running shoe with laces from the table and set it down on the mat",
+    "Grab the beige-soled walking sneaker off the table and drop it on the mat",
+    "Pick up the the green shoe from the table and place it on the mat",
+    "Pick up the beige-soled walking sneaker from the table and set it on the mat",
+    "Grab the beige-soled walking sneaker and set it on the mat",
+    "Use the left arm to lift the beige-soled walking sneaker and drop it on the mat",
+    "Pick up the beige-soled walking sneaker from the table and set it on the mat",
+    "Use the left arm to grab the running shoe with laces from the table and place it on the mat",
+    "Grab the the green shoe from the table and set it on the mat",
+    "Grab the running shoe with laces from the table and place it on the mat",
+    "Pick up the green shoe from the table and set it down on the mat",
+    "Grab the green shoe off the table and drop it on the mat",
+    "Pick up the the green shoe from the table and place it on the mat",
+    "Pick up the beige-soled walking sneaker from the table and set it on the mat",
+    "Grab the green shoe and set it on the mat",
+    "Use the left arm to lift the running shoe with laces and drop it on the mat",
+    "Pick up the green shoe from the table and set it on the mat",
+    "Use the left arm to grab the green shoe from the table and place it on the mat",
+    "Grab the the beige-soled walking sneaker from the table and set it on the mat",
+    "Grab the running shoe with laces from the table and place it on the mat",
+    "Pick up the running shoe with laces from the table and set it down on the mat",
+    "Grab the green shoe off the table and drop it on the mat",
+    "Pick up the the beige-soled walking sneaker from the table and place it on the mat",
+    "Pick up the green shoe from the table and set it on the mat",
+    "Grab the green shoe and set it on the mat",
+    "Use the left arm to lift the running shoe with laces and drop it on the mat",
+    "Pick up the running shoe with laces from the table and set it on the mat",
+    "Use the left arm to grab the running shoe with laces from the table and place it on the mat",
+    "Grab the the running shoe with laces from the table and set it on the mat",
+    "Grab the green shoe from the table and place it on the mat",
+    "Pick up the running shoe with laces from the table and set it down on the mat",
+    "Grab the running shoe with laces off the table and drop it on the mat",
+    "Pick up the the beige-soled walking sneaker from the table and place it on the mat",
+    "Pick up the green shoe from the table and set it on the mat",
+    "Grab the green shoe and set it on the mat",
+    "Use the left arm to lift the beige-soled walking sneaker and drop it on the mat",
+    "Pick up the beige-soled walking sneaker from the table and set it on the mat",
+    "Use the left arm to grab the running shoe with laces from the table and place it on the mat",
+    "Grab the the beige-soled walking sneaker from the table and set it on the mat",
+    "Grab the green shoe from the table and place it on the mat",
+    "Pick up the beige-soled walking sneaker from the table and set it down on the mat",
+    "Grab the green shoe off the table and drop it on the mat",
+    "Pick up the the green shoe from the table and place it on the mat",
+    "Pick up the beige-soled walking sneaker from the table and set it on the mat",
+    "Grab the running shoe with laces and set it on the mat",
+    "Use the left arm to lift the running shoe with laces and drop it on the mat",
+    "Pick up the running shoe with laces from the table and set it on the mat",
+    "Use the left arm to grab the green shoe from the table and place it on the mat",
+    "Grab the the beige-soled walking sneaker from the table and set it on the mat",
+    "Grab the green shoe from the table and place it on the mat",
+    "Pick up the running shoe with laces from the table and set it down on the mat",
+    "Grab the green shoe off the table and drop it on the mat",
+    "Pick up the the beige-soled walking sneaker from the table and place it on the mat",
+    "Pick up the green shoe from the table and set it on the mat",
+    "Grab the green shoe and set it on the mat",
+    "Use the left arm to lift the running shoe with laces and drop it on the mat",
+    "Pick up the running shoe with laces from the table and set it on the mat",
+    "Use the left arm to grab the green shoe from the table and place it on the mat",
+    "Grab the the beige-soled walking sneaker from the table and set it on the mat",
+    "Grab the green shoe from the table and place it on the mat",
+    "Pick up the beige-soled walking sneaker from the table and set it down on the mat",
+    "Grab the running shoe with laces off the table and drop it on the mat",
+    "Pick up the the green shoe from the table and place it on the mat",
+    "Pick up the running shoe with laces from the table and set it on the mat",
+    "Grab the beige-soled walking sneaker and set it on the mat",
+    "Use the left arm to lift the running shoe with laces and drop it on the mat",
+    "Pick up the beige-soled walking sneaker from the table and set it on the mat",
+    "Use the left arm to grab the running shoe with laces from the table and place it on the mat",
+    "Grab the the running shoe with laces from the table and set it on the mat",
+    "Grab the running shoe with laces from the table and place it on the mat",
+    "Pick up the green shoe from the table and set it down on the mat",
+    "Grab the green shoe off the table and drop it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode40.json b/place_shoe/demo_clean/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..472ff6f3529bcce551131cf6fe9f7c0d87c9849b
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the brown sole shoe off the table using the left arm and drop it on the mat",
+    "Lift the footwear with white top using the left arm from the table and place it on the mat",
+    "Move the shoe with textured brown sole from the table to the mat in one fluid motion",
+    "Use the left arm to grab the lace-up black and white shoe and transfer it to the mat",
+    "Take the black-striped athletic shoe from the table and position it on the mat",
+    "Transfer the rounded-toe gym shoe from the table to the mat",
+    "With the left arm, grab the rounded-toe gym shoe off the table and place it onto the mat",
+    "Pick the the shoe with smooth leather upper off the table and position it on the mat",
+    "With the left arm, grab the white shoe from the table and place it on the mat",
+    "Lift the the white shoe with rubber bottom from the table using the left arm and place it on the mat",
+    "Use the left arm to pick the footwear with white top and position it on the mat",
+    "Take the sports shoe from the table and put it on the mat",
+    "Lift the sports shoe from the table and place it carefully on the mat",
+    "Using the left arm, grasp the sports shoe from the table and place it onto the mat",
+    "Take the sports shoe and put it on the mat",
+    "Lift the the shoe with textured brown sole from the table and place it onto the mat",
+    "Use the left arm to pick up the shoe with textured brown sole from the table and drop it on the mat",
+    "Use the left arm to grab the the shoe with textured brown sole and put it on the mat",
+    "Use the left arm to grab the brown sole shoe from the table and move it to the mat",
+    "Pick the white shoe with black accents up from the table and put it on the mat",
+    "Move the sports shoe from the table and place it down on the mat",
+    "Take the lace-up shoe from the table and carefully drop it on the mat",
+    "Grab the white shoe with black accents from the table with the left arm and place it on the mat",
+    "Grab the black-striped athletic shoe using the left arm and drop it on the mat",
+    "Use the left arm to lift the white shoe with rubber bottom from the table and set it on the mat",
+    "Pick the white shoe up from the table and drop it directly on the mat",
+    "Take the the brown sole shoe off the table and put it on the mat",
+    "Pick up the white shoe and move it to the mat",
+    "Move the shoe with smooth leather upper from the table to the mat",
+    "Use the left arm to lift the white shoe from the table and set it on the mat",
+    "Lift the lace-up shoe and place it on the mat",
+    "Pick up the shoe with smooth leather upper from the table and set it on the mat",
+    "Take the the shoe with smooth leather upper from the table using the left arm and drop it on the mat",
+    "Remove the sports shoe from the table and lay it on the mat",
+    "Move the rounded-toe gym shoe from the table to the mat",
+    "Lift the shoe with textured brown sole from the table and gently place it onto the mat",
+    "Use the left arm to grab the the white shoe with rubber bottom from the table and set it on the mat",
+    "Grab the white shoe with black accents from the table and place it on the mat",
+    "Pick up the black-striped athletic shoe with the left arm from the table and place it on the mat",
+    "Take the footwear with white top with the left arm and place it carefully on the mat",
+    "Pick up the sports shoe with the left arm, move it from the table, and set it on the mat",
+    "Grab the the footwear with white top on the table and move it to the mat",
+    "Pick the the shoe with textured brown sole from the table and place it gently on the mat",
+    "Use the left arm to lift the the sports shoe from the table and set it on the mat",
+    "With the left arm, pick the rounded-toe gym shoe up from the table and put it on the mat",
+    "Retrieve the footwear with white top from the table and set it on the mat",
+    "Use the left arm to pick the lace-up black and white shoe off the table and move it onto the mat",
+    "Take the lace-up shoe from the table and place it on the mat",
+    "Grab the white shoe with black accents using the left arm, move it from the table to the mat",
+    "Using the left arm, lift the black-striped athletic shoe from the table and place it onto the mat",
+    "Lift the sports shoe off the table using the left arm and drop it on the mat",
+    "Lift the white shoe with black accents using the left arm from the table and place it on the mat",
+    "Move the footwear with white top from the table to the mat in one fluid motion",
+    "Use the left arm to grab the rounded-toe gym shoe and transfer it to the mat",
+    "Take the white shoe with rubber bottom from the table and position it on the mat",
+    "Transfer the lace-up black and white shoe from the table to the mat",
+    "With the left arm, grab the white shoe with black accents off the table and place it onto the mat",
+    "Pick the the black-striped athletic shoe off the table and position it on the mat",
+    "With the left arm, grab the white shoe with black accents from the table and place it on the mat",
+    "Lift the the brown sole shoe from the table using the left arm and place it on the mat",
+    "Use the left arm to pick the lace-up black and white shoe and position it on the mat",
+    "Take the white shoe with rubber bottom from the table and put it on the mat",
+    "Lift the lace-up shoe from the table and place it carefully on the mat",
+    "Using the left arm, grasp the white shoe with black accents from the table and place it onto the mat",
+    "Take the shoe with textured brown sole and put it on the mat",
+    "Lift the the shoe with smooth leather upper from the table and place it onto the mat",
+    "Use the left arm to pick up the white shoe from the table and drop it on the mat",
+    "Use the left arm to grab the the lace-up shoe and put it on the mat",
+    "Use the left arm to grab the sports shoe from the table and move it to the mat",
+    "Pick the sports shoe up from the table and put it on the mat",
+    "Move the lace-up shoe from the table and place it down on the mat",
+    "Take the black-striped athletic shoe from the table and carefully drop it on the mat",
+    "Grab the lace-up shoe from the table with the left arm and place it on the mat",
+    "Grab the white shoe with rubber bottom using the left arm and drop it on the mat",
+    "Use the left arm to lift the sports shoe from the table and set it on the mat",
+    "Pick the footwear with white top up from the table and drop it directly on the mat",
+    "Take the the shoe with textured brown sole off the table and put it on the mat",
+    "Pick up the lace-up black and white shoe and move it to the mat",
+    "Move the shoe with smooth leather upper from the table to the mat",
+    "Use the left arm to lift the footwear with white top from the table and set it on the mat",
+    "Lift the white shoe with rubber bottom and place it on the mat",
+    "Pick up the footwear with white top from the table and set it on the mat",
+    "Take the the shoe with smooth leather upper from the table using the left arm and drop it on the mat",
+    "Remove the rounded-toe gym shoe from the table and lay it on the mat",
+    "Move the black-striped athletic shoe from the table to the mat",
+    "Lift the rounded-toe gym shoe from the table and gently place it onto the mat",
+    "Use the left arm to grab the the white shoe from the table and set it on the mat",
+    "Grab the shoe with smooth leather upper from the table and place it on the mat",
+    "Pick up the footwear with white top with the left arm from the table and place it on the mat",
+    "Take the shoe with smooth leather upper with the left arm and place it carefully on the mat",
+    "Pick up the white shoe with black accents with the left arm, move it from the table, and set it on the mat",
+    "Grab the the lace-up shoe on the table and move it to the mat",
+    "Pick the the rounded-toe gym shoe from the table and place it gently on the mat",
+    "Use the left arm to lift the the black-striped athletic shoe from the table and set it on the mat",
+    "With the left arm, pick the shoe with textured brown sole up from the table and put it on the mat",
+    "Retrieve the footwear with white top from the table and set it on the mat",
+    "Use the left arm to pick the lace-up shoe off the table and move it onto the mat",
+    "Take the white shoe from the table and place it on the mat",
+    "Grab the white shoe with black accents using the left arm, move it from the table to the mat",
+    "Using the left arm, lift the sports shoe from the table and place it onto the mat"
+  ],
+  "unseen": [
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Use the left arm to lift the white leather shoe with gum sole and drop it on the mat",
+    "Grab the shoe with striped design and set it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole off the table and drop it on the mat",
+    "Pick up the shoe with striped design from the table and set it down on the mat",
+    "Use the left arm to grab the shoe with black stripes from the table and place it on the mat",
+    "Pick up the the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the shoe with black stripes from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripes and drop it on the mat",
+    "Grab the shoe with striped design and set it on the mat",
+    "Grab the the shoe with striped design from the table and set it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Pick up the shoe with black stripes from the table and set it down on the mat",
+    "Use the left arm to grab the shoe with striped design from the table and place it on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the left arm to lift the white leather shoe with gum sole and drop it on the mat",
+    "Grab the shoe with striped design and set it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it down on the mat",
+    "Use the left arm to grab the shoe with striped design from the table and place it on the mat",
+    "Pick up the the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the shoe with striped design from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripes and drop it on the mat",
+    "Grab the shoe with striped design and set it on the mat",
+    "Grab the the shoe with striped design from the table and set it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Pick up the shoe with striped design from the table and set it down on the mat",
+    "Use the left arm to grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Grab the shoe with black stripes from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the left arm to lift the white leather shoe with gum sole and drop it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Pick up the shoe with black stripes from the table and set it down on the mat",
+    "Use the left arm to grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Use the left arm to lift the white leather shoe with gum sole and drop it on the mat",
+    "Grab the white leather shoe with gum sole and set it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole off the table and drop it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it down on the mat",
+    "Use the left arm to grab the shoe with black stripes from the table and place it on the mat",
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripes and drop it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Grab the the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the shoe with black stripes off the table and drop it on the mat",
+    "Pick up the shoe with black stripes from the table and set it down on the mat",
+    "Use the left arm to grab the shoe with striped design from the table and place it on the mat",
+    "Pick up the the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the shoe with striped design from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the left arm to lift the white leather shoe with gum sole and drop it on the mat",
+    "Grab the shoe with striped design and set it on the mat",
+    "Grab the the shoe with striped design from the table and set it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it down on the mat",
+    "Use the left arm to grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the left arm to lift the shoe with striped design and drop it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Grab the the shoe with striped design from the table and set it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it down on the mat",
+    "Use the left arm to grab the shoe with striped design from the table and place it on the mat",
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripes and drop it on the mat",
+    "Grab the white leather shoe with gum sole and set it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole off the table and drop it on the mat",
+    "Pick up the shoe with striped design from the table and set it down on the mat",
+    "Use the left arm to grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode41.json b/place_shoe/demo_clean/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..04954a9442864550be6e684ef53bed39aa463471
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the brown shoe and place it on the mat",
+    "Use the left arm to lift the dark brown leather shoe from the table and set it on the mat",
+    "Take the shoe with thick rubber sole from the table and place it on the mat",
+    "Using the left arm, lift the shoe with grooved bottom from the table and place it onto the mat",
+    "Use the left arm to pick up the shoe with grooved bottom from the table and drop it on the mat",
+    "Lift the the smooth leather shoe from the table using the left arm and place it on the mat",
+    "Using the left arm, grasp the shoe with thick rubber sole from the table and place it onto the mat",
+    "Use the left arm to lift the the dark shoe with grooves on sole from the table and set it on the mat",
+    "Pick the the shoe for walking with rubber grip off the table and position it on the mat",
+    "Remove the shoe with lace holes from the table and lay it on the mat",
+    "Grab the shoe for everyday wear using the left arm and drop it on the mat",
+    "Move the dark brown leather shoe from the table to the mat",
+    "Use the left arm to pick the shoe with thick rubber sole and position it on the mat",
+    "Lift the brown shoe from the table and place it carefully on the mat",
+    "Lift the shoe with lace holes off the table using the left arm and drop it on the mat",
+    "Take the rounded tip leather shoe from the table and put it on the mat",
+    "Grab the shoe with thick rubber sole from the table with the left arm and place it on the mat",
+    "Lift the shoe with lace holes from the table and gently place it onto the mat",
+    "Use the left arm to grab the smooth leather shoe from the table and move it to the mat",
+    "Pick up the rounded front shoe and move it to the mat",
+    "Use the left arm to grab the the smooth leather shoe from the table and set it on the mat",
+    "Grab the the shoe with thick rubber sole on the table and move it to the mat",
+    "Use the left arm to grab the medium-sized walking shoe and transfer it to the mat",
+    "Pick the smooth leather shoe up from the table and drop it directly on the mat",
+    "Lift the the medium-sized walking shoe from the table and place it onto the mat",
+    "Transfer the shoe with lace holes from the table to the mat",
+    "Take the smooth leather shoe with the left arm and place it carefully on the mat",
+    "Move the shoe with lace holes from the table to the mat in one fluid motion",
+    "Grab the shoe with grooved bottom from the table and place it on the mat",
+    "With the left arm, grab the shoe with lace holes from the table and place it on the mat",
+    "Move the rounded tip leather shoe from the table to the mat",
+    "Lift the smooth leather shoe using the left arm from the table and place it on the mat",
+    "Pick up the shoe with lace holes from the table and set it on the mat",
+    "With the left arm, pick the dark shoe with grooves on sole up from the table and put it on the mat",
+    "Use the left arm to lift the dark shoe with grooves on sole from the table and set it on the mat",
+    "Use the left arm to grab the the shoe with thick rubber sole and put it on the mat",
+    "Pick up the dark brown leather shoe with the left arm, move it from the table, and set it on the mat",
+    "Grab the rounded front shoe using the left arm, move it from the table to the mat",
+    "Move the shoe with grooved bottom from the table and place it down on the mat",
+    "Take the the dark brown leather shoe off the table and put it on the mat",
+    "Take the shoe with lace holes from the table and position it on the mat",
+    "Take the the rounded tip leather shoe from the table using the left arm and drop it on the mat",
+    "Use the left arm to pick the shoe with thick rubber sole off the table and move it onto the mat",
+    "Retrieve the shoe with lace holes from the table and set it on the mat",
+    "Pick up the shoe with lace holes with the left arm from the table and place it on the mat",
+    "Take the shoe with grooved bottom from the table and carefully drop it on the mat",
+    "Pick the the brown shoe from the table and place it gently on the mat",
+    "Take the shoe with grooved bottom and put it on the mat",
+    "With the left arm, grab the smooth leather shoe off the table and place it onto the mat",
+    "Pick the medium-sized walking shoe up from the table and put it on the mat",
+    "Lift the smooth leather shoe and place it on the mat",
+    "Use the left arm to lift the dark shoe with grooves on sole from the table and set it on the mat",
+    "Take the shoe for everyday wear from the table and place it on the mat",
+    "Using the left arm, lift the dark shoe with grooves on sole from the table and place it onto the mat",
+    "Use the left arm to pick up the dark shoe with grooves on sole from the table and drop it on the mat",
+    "Lift the the shoe with grooved bottom from the table using the left arm and place it on the mat",
+    "Using the left arm, grasp the smooth leather shoe from the table and place it onto the mat",
+    "Use the left arm to lift the the dark brown leather shoe from the table and set it on the mat",
+    "Pick the the dark brown leather shoe off the table and position it on the mat",
+    "Remove the dark shoe with grooves on sole from the table and lay it on the mat",
+    "Grab the brown shoe using the left arm and drop it on the mat",
+    "Move the dark brown leather shoe from the table to the mat",
+    "Use the left arm to pick the shoe for everyday wear and position it on the mat",
+    "Lift the medium-sized walking shoe from the table and place it carefully on the mat",
+    "Lift the brown shoe off the table using the left arm and drop it on the mat",
+    "Take the shoe with grooved bottom from the table and put it on the mat",
+    "Grab the medium-sized walking shoe from the table with the left arm and place it on the mat",
+    "Lift the dark brown leather shoe from the table and gently place it onto the mat",
+    "Use the left arm to grab the smooth leather shoe from the table and move it to the mat",
+    "Pick up the shoe with grooved bottom and move it to the mat",
+    "Use the left arm to grab the the shoe with lace holes from the table and set it on the mat",
+    "Grab the the shoe for everyday wear on the table and move it to the mat",
+    "Use the left arm to grab the shoe for walking with rubber grip and transfer it to the mat",
+    "Pick the shoe for everyday wear up from the table and drop it directly on the mat",
+    "Lift the the rounded front shoe from the table and place it onto the mat",
+    "Transfer the shoe for everyday wear from the table to the mat",
+    "Take the smooth leather shoe with the left arm and place it carefully on the mat",
+    "Move the rounded front shoe from the table to the mat in one fluid motion",
+    "Grab the rounded front shoe from the table and place it on the mat",
+    "With the left arm, grab the dark shoe with grooves on sole from the table and place it on the mat",
+    "Move the dark brown leather shoe from the table to the mat",
+    "Lift the shoe with thick rubber sole using the left arm from the table and place it on the mat",
+    "Pick up the rounded tip leather shoe from the table and set it on the mat",
+    "With the left arm, pick the medium-sized walking shoe up from the table and put it on the mat",
+    "Use the left arm to lift the shoe with thick rubber sole from the table and set it on the mat",
+    "Use the left arm to grab the the dark shoe with grooves on sole and put it on the mat",
+    "Pick up the dark shoe with grooves on sole with the left arm, move it from the table, and set it on the mat",
+    "Grab the rounded tip leather shoe using the left arm, move it from the table to the mat",
+    "Move the smooth leather shoe from the table and place it down on the mat",
+    "Take the the shoe for everyday wear off the table and put it on the mat",
+    "Take the dark brown leather shoe from the table and position it on the mat",
+    "Take the the shoe for everyday wear from the table using the left arm and drop it on the mat",
+    "Use the left arm to pick the dark shoe with grooves on sole off the table and move it onto the mat",
+    "Retrieve the shoe with lace holes from the table and set it on the mat",
+    "Pick up the dark shoe with grooves on sole with the left arm from the table and place it on the mat",
+    "Take the shoe for everyday wear from the table and carefully drop it on the mat",
+    "Pick the the shoe with thick rubber sole from the table and place it gently on the mat",
+    "Take the shoe with lace holes and put it on the mat",
+    "With the left arm, grab the shoe with grooved bottom off the table and place it onto the mat",
+    "Pick the shoe for walking with rubber grip up from the table and put it on the mat"
+  ],
+  "unseen": [
+    "Use the left arm to grab the casual brown shoe from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Use the left arm to lift the casual brown shoe and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the left arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Use the left arm to lift the casual brown shoe and drop it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the left arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Use the left arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the left arm to grab the casual brown shoe from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Use the left arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Use the left arm to grab the casual brown shoe from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Use the left arm to lift the casual brown shoe and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the left arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Use the left arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Use the left arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Use the left arm to lift the casual brown shoe and drop it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Use the left arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Use the left arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the left arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Use the left arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the left arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Use the left arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode42.json b/place_shoe/demo_clean/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..49bca547d0bfc314353b28ed6f251e327ba21d65
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the white bottom sports shoe from the table and place it carefully on the mat",
+    "Lift the the shoe with flat rubber sole from the table using the right arm and place it on the mat",
+    "Take the red sneaker and put it on the mat",
+    "Move the smooth-textured red shoe from the table to the mat",
+    "With the right arm, grab the red shoe rounded at front from the table and place it on the mat",
+    "Pick up the red sneaker and move it to the mat",
+    "Move the smooth-textured red shoe from the table to the mat",
+    "Remove the shoe with flat rubber sole from the table and lay it on the mat",
+    "Grab the the footwear with red top white sole on the table and move it to the mat",
+    "With the right arm, pick the red shoe with white sole up from the table and put it on the mat",
+    "Take the footwear with red top white sole from the table and position it on the mat",
+    "Take the grooved sole red shoe from the table and carefully drop it on the mat",
+    "Take the grooved sole red shoe from the table and put it on the mat",
+    "Use the right arm to grab the lace-up red sports shoe from the table and move it to the mat",
+    "With the right arm, grab the shoe with flat rubber sole off the table and place it onto the mat",
+    "Take the red shoe with white sole from the table and place it on the mat",
+    "Use the right arm to grab the the smooth-textured red shoe from the table and set it on the mat",
+    "Pick up the footwear with red top white sole with the right arm, move it from the table, and set it on the mat",
+    "Use the right arm to lift the grooved sole red shoe from the table and set it on the mat",
+    "Retrieve the grooved sole red shoe from the table and set it on the mat",
+    "Grab the smooth-textured red shoe from the table with the right arm and place it on the mat",
+    "Grab the sports shoe from the table and place it on the mat",
+    "Use the right arm to lift the single red shoe from the table and set it on the mat",
+    "Pick up the footwear with red top white sole with the right arm from the table and place it on the mat",
+    "Use the right arm to pick the medium red shoe and position it on the mat",
+    "Pick the the single red shoe off the table and position it on the mat",
+    "Lift the shoe with flat rubber sole from the table and gently place it onto the mat",
+    "Move the red shoe rounded at front from the table and place it down on the mat",
+    "Use the right arm to grab the sports shoe and transfer it to the mat",
+    "Pick the the smooth-textured red shoe from the table and place it gently on the mat",
+    "Use the right arm to pick the red sneaker off the table and move it onto the mat",
+    "Transfer the red shoe with white sole from the table to the mat",
+    "Use the right arm to pick up the shoe with flat rubber sole from the table and drop it on the mat",
+    "Grab the sports shoe using the right arm, move it from the table to the mat",
+    "Use the right arm to lift the the footwear with red top white sole from the table and set it on the mat",
+    "Pick up the sports shoe from the table and set it on the mat",
+    "Lift the white bottom sports shoe using the right arm from the table and place it on the mat",
+    "Take the grooved sole red shoe with the right arm and place it carefully on the mat",
+    "Grab the shoe with flat rubber sole using the right arm and drop it on the mat",
+    "Lift the the lace-up red sports shoe from the table and place it onto the mat",
+    "Pick the red shoe with white sole up from the table and drop it directly on the mat",
+    "Lift the medium red shoe off the table using the right arm and drop it on the mat",
+    "Take the the footwear with red top white sole off the table and put it on the mat",
+    "Using the right arm, lift the smooth-textured red shoe from the table and place it onto the mat",
+    "Take the the red shoe with white sole from the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the the red sneaker and put it on the mat",
+    "Using the right arm, grasp the red shoe with white sole from the table and place it onto the mat",
+    "Pick the footwear with red top white sole up from the table and put it on the mat",
+    "Move the red shoe rounded at front from the table to the mat in one fluid motion",
+    "Lift the red shoe with white sole and place it on the mat",
+    "Lift the red shoe rounded at front from the table and place it carefully on the mat",
+    "Lift the the lace-up red sports shoe from the table using the right arm and place it on the mat",
+    "Take the red sneaker and put it on the mat",
+    "Move the shoe with flat rubber sole from the table to the mat",
+    "With the right arm, grab the lace-up red sports shoe from the table and place it on the mat",
+    "Pick up the single red shoe and move it to the mat",
+    "Move the smooth-textured red shoe from the table to the mat",
+    "Remove the medium red shoe from the table and lay it on the mat",
+    "Grab the the red shoe rounded at front on the table and move it to the mat",
+    "With the right arm, pick the red shoe rounded at front up from the table and put it on the mat",
+    "Take the shoe with flat rubber sole from the table and position it on the mat",
+    "Take the red shoe with white sole from the table and carefully drop it on the mat",
+    "Take the shoe with flat rubber sole from the table and put it on the mat",
+    "Use the right arm to grab the smooth-textured red shoe from the table and move it to the mat",
+    "With the right arm, grab the footwear with red top white sole off the table and place it onto the mat",
+    "Take the grooved sole red shoe from the table and place it on the mat",
+    "Use the right arm to grab the the red shoe with white sole from the table and set it on the mat",
+    "Pick up the single red shoe with the right arm, move it from the table, and set it on the mat",
+    "Use the right arm to lift the white bottom sports shoe from the table and set it on the mat",
+    "Retrieve the red shoe with white sole from the table and set it on the mat",
+    "Grab the footwear with red top white sole from the table with the right arm and place it on the mat",
+    "Grab the red sneaker from the table and place it on the mat",
+    "Use the right arm to lift the sports shoe from the table and set it on the mat",
+    "Pick up the red shoe rounded at front with the right arm from the table and place it on the mat",
+    "Use the right arm to pick the red sneaker and position it on the mat",
+    "Pick the the lace-up red sports shoe off the table and position it on the mat",
+    "Lift the red shoe with white sole from the table and gently place it onto the mat",
+    "Move the medium red shoe from the table and place it down on the mat",
+    "Use the right arm to grab the white bottom sports shoe and transfer it to the mat",
+    "Pick the the sports shoe from the table and place it gently on the mat",
+    "Use the right arm to pick the smooth-textured red shoe off the table and move it onto the mat",
+    "Transfer the red sneaker from the table to the mat",
+    "Use the right arm to pick up the sports shoe from the table and drop it on the mat",
+    "Grab the single red shoe using the right arm, move it from the table to the mat",
+    "Use the right arm to lift the the smooth-textured red shoe from the table and set it on the mat",
+    "Pick up the grooved sole red shoe from the table and set it on the mat",
+    "Lift the shoe with flat rubber sole using the right arm from the table and place it on the mat",
+    "Take the medium red shoe with the right arm and place it carefully on the mat",
+    "Grab the single red shoe using the right arm and drop it on the mat",
+    "Lift the the red shoe rounded at front from the table and place it onto the mat",
+    "Pick the shoe with flat rubber sole up from the table and drop it directly on the mat",
+    "Lift the white bottom sports shoe off the table using the right arm and drop it on the mat",
+    "Take the the single red shoe off the table and put it on the mat",
+    "Using the right arm, lift the red shoe with white sole from the table and place it onto the mat",
+    "Take the the medium red shoe from the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the the grooved sole red shoe and put it on the mat",
+    "Using the right arm, grasp the smooth-textured red shoe from the table and place it onto the mat",
+    "Pick the lace-up red sports shoe up from the table and put it on the mat",
+    "Move the red shoe with white sole from the table to the mat in one fluid motion",
+    "Lift the red shoe with white sole and place it on the mat"
+  ],
+  "unseen": [
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Use the right arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Use the right arm to lift the synthetic shoe upper and drop it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Grab the the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Use the right arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Use the right arm to lift the synthetic shoe upper and drop it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Use the right arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Use the right arm to lift the red sneaker medium sized and drop it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Use the right arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Use the right arm to lift the red shoe and drop it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Use the right arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Use the right arm to lift the red sneaker medium sized and drop it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Use the right arm to grab the red shoe from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Pick up the the red sneaker medium sized from the table and place it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Use the right arm to lift the red shoe and drop it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Use the right arm to grab the red shoe from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Use the right arm to lift the red shoe and drop it on the mat",
+    "Grab the red shoe and set it on the mat",
+    "Grab the the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Use the right arm to grab the red shoe from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Pick up the the red sneaker medium sized from the table and place it on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Use the right arm to lift the synthetic shoe upper and drop it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Use the right arm to grab the red shoe from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Use the right arm to lift the red shoe and drop it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Grab the the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Use the right arm to grab the red shoe from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Use the right arm to lift the red shoe and drop it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Grab the the red shoe from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode43.json b/place_shoe/demo_clean/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9047a77aeac92059a583adfcbb22f577043d68c
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the rounded shoe with visible straps and position it on the mat",
+    "Take the the shoe with open straps off the table and put it on the mat",
+    "With the left arm, pick the shoe with textured bottom up from the table and put it on the mat",
+    "Use the left arm to grab the light brown shoe and transfer it to the mat",
+    "Use the left arm to grab the rounded shoe with visible straps from the table and move it to the mat",
+    "Retrieve the shoe with open straps from the table and set it on the mat",
+    "Lift the the light brown shoe with white sole from the table and place it onto the mat",
+    "Use the left arm to pick the shoe with rounded and open form off the table and move it onto the mat",
+    "Pick the brown shoe with strap loops up from the table and put it on the mat",
+    "Grab the shoe with colorful stripes from the table and place it on the mat",
+    "Lift the light brown shoe from the table and gently place it onto the mat",
+    "With the left arm, grab the light brown shoe with white sole from the table and place it on the mat",
+    "Pick the the shoe with colorful stripes off the table and position it on the mat",
+    "Pick the the light brown shoe with white sole from the table and place it gently on the mat",
+    "Take the light brown shoe with the left arm and place it carefully on the mat",
+    "Move the light brown shoe from the table and place it down on the mat",
+    "Grab the brown shoe with strap loops from the table with the left arm and place it on the mat",
+    "With the left arm, grab the shoe with red green white pattern off the table and place it onto the mat",
+    "Use the left arm to pick up the shoe with open straps from the table and drop it on the mat",
+    "Lift the light brown shoe using the left arm from the table and place it on the mat",
+    "Remove the shoe with open straps from the table and lay it on the mat",
+    "Take the light brown shoe and put it on the mat",
+    "Take the shoe with rounded and open form from the table and position it on the mat",
+    "Using the left arm, lift the light brown shoe from the table and place it onto the mat",
+    "Take the plastic brown shoe from the table and put it on the mat",
+    "Lift the the shoe with open straps from the table using the left arm and place it on the mat",
+    "Use the left arm to lift the shoe with rounded and open form from the table and set it on the mat",
+    "Pick up the light brown shoe with white sole with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to grab the the shoe with textured bottom and put it on the mat",
+    "Pick up the medium-sized brown shoe from the table and set it on the mat",
+    "Pick up the shoe with rounded and open form and move it to the mat",
+    "Move the brown shoe with strap loops from the table to the mat",
+    "Transfer the rounded shoe with visible straps from the table to the mat",
+    "Use the left arm to lift the the plastic brown shoe from the table and set it on the mat",
+    "Take the rounded shoe with visible straps from the table and carefully drop it on the mat",
+    "Lift the shoe with textured bottom from the table and place it carefully on the mat",
+    "Grab the shoe with open straps using the left arm and drop it on the mat",
+    "Grab the shoe with colorful stripes using the left arm, move it from the table to the mat",
+    "Use the left arm to grab the the shoe with textured bottom from the table and set it on the mat",
+    "Grab the the plastic brown shoe on the table and move it to the mat",
+    "Lift the shoe with red green white pattern and place it on the mat",
+    "Pick the small brown footwear replica up from the table and drop it directly on the mat",
+    "Lift the shoe with rounded and open form off the table using the left arm and drop it on the mat",
+    "Pick up the plastic brown shoe with the left arm from the table and place it on the mat",
+    "Using the left arm, grasp the shoe with textured bottom from the table and place it onto the mat",
+    "Move the plastic brown shoe from the table to the mat in one fluid motion",
+    "Take the shoe with textured bottom from the table and place it on the mat",
+    "Move the shoe with textured bottom from the table to the mat",
+    "Take the the light brown shoe with white sole from the table using the left arm and drop it on the mat",
+    "Use the left arm to lift the shoe with red green white pattern from the table and set it on the mat",
+    "Use the left arm to pick the light brown shoe and position it on the mat",
+    "Take the the shoe with red green white pattern off the table and put it on the mat",
+    "With the left arm, pick the shoe with colorful stripes up from the table and put it on the mat",
+    "Use the left arm to grab the shoe with open straps and transfer it to the mat",
+    "Use the left arm to grab the shoe with colorful stripes from the table and move it to the mat",
+    "Retrieve the plastic brown shoe from the table and set it on the mat",
+    "Lift the the shoe with rounded and open form from the table and place it onto the mat",
+    "Use the left arm to pick the shoe with textured bottom off the table and move it onto the mat",
+    "Pick the shoe with open straps up from the table and put it on the mat",
+    "Grab the brown shoe with strap loops from the table and place it on the mat",
+    "Lift the plastic brown shoe from the table and gently place it onto the mat",
+    "With the left arm, grab the plastic brown shoe from the table and place it on the mat",
+    "Pick the the light brown shoe off the table and position it on the mat",
+    "Pick the the shoe with open straps from the table and place it gently on the mat",
+    "Take the shoe with red green white pattern with the left arm and place it carefully on the mat",
+    "Move the shoe with colorful stripes from the table and place it down on the mat",
+    "Grab the shoe with open straps from the table with the left arm and place it on the mat",
+    "With the left arm, grab the shoe with rounded and open form off the table and place it onto the mat",
+    "Use the left arm to pick up the light brown shoe with white sole from the table and drop it on the mat",
+    "Lift the light brown shoe using the left arm from the table and place it on the mat",
+    "Remove the plastic brown shoe from the table and lay it on the mat",
+    "Take the light brown shoe and put it on the mat",
+    "Take the shoe with colorful stripes from the table and position it on the mat",
+    "Using the left arm, lift the shoe with colorful stripes from the table and place it onto the mat",
+    "Take the shoe with open straps from the table and put it on the mat",
+    "Lift the the small brown footwear replica from the table using the left arm and place it on the mat",
+    "Use the left arm to lift the rounded shoe with visible straps from the table and set it on the mat",
+    "Pick up the shoe with red green white pattern with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to grab the the brown shoe with strap loops and put it on the mat",
+    "Pick up the shoe with rounded and open form from the table and set it on the mat",
+    "Pick up the shoe with textured bottom and move it to the mat",
+    "Move the shoe with textured bottom from the table to the mat",
+    "Transfer the medium-sized brown shoe from the table to the mat",
+    "Use the left arm to lift the the small brown footwear replica from the table and set it on the mat",
+    "Take the shoe with open straps from the table and carefully drop it on the mat",
+    "Lift the shoe with textured bottom from the table and place it carefully on the mat",
+    "Grab the light brown shoe using the left arm and drop it on the mat",
+    "Grab the small brown footwear replica using the left arm, move it from the table to the mat",
+    "Use the left arm to grab the the shoe with red green white pattern from the table and set it on the mat",
+    "Grab the the plastic brown shoe on the table and move it to the mat",
+    "Lift the brown shoe with strap loops and place it on the mat",
+    "Pick the brown shoe with strap loops up from the table and drop it directly on the mat",
+    "Lift the rounded shoe with visible straps off the table using the left arm and drop it on the mat",
+    "Pick up the light brown shoe with the left arm from the table and place it on the mat",
+    "Using the left arm, grasp the shoe with rounded and open form from the table and place it onto the mat",
+    "Move the medium-sized brown shoe from the table to the mat in one fluid motion",
+    "Take the plastic brown shoe from the table and place it on the mat",
+    "Move the small brown footwear replica from the table to the mat",
+    "Take the the light brown shoe with white sole from the table using the left arm and drop it on the mat",
+    "Use the left arm to lift the medium-sized brown shoe from the table and set it on the mat"
+  ],
+  "unseen": [
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Use the left arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Use the left arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Use the left arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Use the left arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Use the left arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Use the left arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Use the left arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Use the left arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Use the left arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Use the left arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Use the left arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Use the left arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Use the left arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Use the left arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Use the left arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Use the left arm to lift the smooth plastic shoe and drop it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode44.json b/place_shoe/demo_clean/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..1039e64727103cbee75d85b1438280acac668599
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the shoe with smooth leather upper off the table and move it onto the mat",
+    "Move the white shoe with rubber bottom from the table and place it down on the mat",
+    "Lift the white shoe with black accents off the table using the left arm and drop it on the mat",
+    "Grab the lace-up black and white shoe using the left arm and drop it on the mat",
+    "Use the left arm to grab the the footwear with white top from the table and set it on the mat",
+    "Take the lace-up black and white shoe from the table and place it on the mat",
+    "Pick the rounded-toe gym shoe up from the table and drop it directly on the mat",
+    "Use the left arm to grab the the white shoe with black accents and put it on the mat",
+    "Pick the white shoe with rubber bottom up from the table and put it on the mat",
+    "Use the left arm to pick the rounded-toe gym shoe and position it on the mat",
+    "Using the left arm, grasp the white shoe from the table and place it onto the mat",
+    "Move the lace-up black and white shoe from the table to the mat",
+    "Move the brown sole shoe from the table to the mat in one fluid motion",
+    "Retrieve the brown sole shoe from the table and set it on the mat",
+    "Grab the the lace-up shoe on the table and move it to the mat",
+    "Transfer the shoe with smooth leather upper from the table to the mat",
+    "With the left arm, grab the black-striped athletic shoe from the table and place it on the mat",
+    "Lift the the white shoe with rubber bottom from the table using the left arm and place it on the mat",
+    "Lift the black-striped athletic shoe using the left arm from the table and place it on the mat",
+    "Move the brown sole shoe from the table to the mat",
+    "Take the lace-up shoe with the left arm and place it carefully on the mat",
+    "Take the rounded-toe gym shoe and put it on the mat",
+    "Pick the the white shoe from the table and place it gently on the mat",
+    "Pick the the white shoe off the table and position it on the mat",
+    "Use the left arm to grab the shoe with smooth leather upper from the table and move it to the mat",
+    "Using the left arm, lift the lace-up shoe from the table and place it onto the mat",
+    "Use the left arm to lift the shoe with smooth leather upper from the table and set it on the mat",
+    "Pick up the footwear with white top with the left arm, move it from the table, and set it on the mat",
+    "Lift the white shoe with rubber bottom and place it on the mat",
+    "Use the left arm to lift the white shoe with rubber bottom from the table and set it on the mat",
+    "Take the lace-up black and white shoe from the table and carefully drop it on the mat",
+    "Lift the lace-up shoe from the table and place it carefully on the mat",
+    "With the left arm, grab the shoe with smooth leather upper off the table and place it onto the mat",
+    "With the left arm, pick the footwear with white top up from the table and put it on the mat",
+    "Pick up the white shoe with rubber bottom with the left arm from the table and place it on the mat",
+    "Grab the white shoe with black accents using the left arm, move it from the table to the mat",
+    "Take the the lace-up black and white shoe from the table using the left arm and drop it on the mat",
+    "Use the left arm to lift the the sports shoe from the table and set it on the mat",
+    "Grab the black-striped athletic shoe from the table and place it on the mat",
+    "Take the white shoe with rubber bottom from the table and position it on the mat",
+    "Use the left arm to pick up the white shoe with rubber bottom from the table and drop it on the mat",
+    "Pick up the white shoe with black accents from the table and set it on the mat",
+    "Take the the lace-up black and white shoe off the table and put it on the mat",
+    "Take the shoe with textured brown sole from the table and put it on the mat",
+    "Remove the lace-up black and white shoe from the table and lay it on the mat",
+    "Use the left arm to grab the white shoe with black accents and transfer it to the mat",
+    "Pick up the white shoe with black accents and move it to the mat",
+    "Grab the shoe with textured brown sole from the table with the left arm and place it on the mat",
+    "Lift the the lace-up black and white shoe from the table and place it onto the mat",
+    "Lift the lace-up shoe from the table and gently place it onto the mat",
+    "Use the left arm to pick the shoe with smooth leather upper off the table and move it onto the mat",
+    "Move the footwear with white top from the table and place it down on the mat",
+    "Lift the rounded-toe gym shoe off the table using the left arm and drop it on the mat",
+    "Grab the white shoe with black accents using the left arm and drop it on the mat",
+    "Use the left arm to grab the the shoe with smooth leather upper from the table and set it on the mat",
+    "Take the footwear with white top from the table and place it on the mat",
+    "Pick the footwear with white top up from the table and drop it directly on the mat",
+    "Use the left arm to grab the the footwear with white top and put it on the mat",
+    "Pick the shoe with textured brown sole up from the table and put it on the mat",
+    "Use the left arm to pick the white shoe with black accents and position it on the mat",
+    "Using the left arm, grasp the shoe with smooth leather upper from the table and place it onto the mat",
+    "Move the lace-up black and white shoe from the table to the mat",
+    "Move the white shoe from the table to the mat in one fluid motion",
+    "Retrieve the black-striped athletic shoe from the table and set it on the mat",
+    "Grab the the brown sole shoe on the table and move it to the mat",
+    "Transfer the rounded-toe gym shoe from the table to the mat",
+    "With the left arm, grab the rounded-toe gym shoe from the table and place it on the mat",
+    "Lift the the lace-up shoe from the table using the left arm and place it on the mat",
+    "Lift the rounded-toe gym shoe using the left arm from the table and place it on the mat",
+    "Move the white shoe with rubber bottom from the table to the mat",
+    "Take the lace-up black and white shoe with the left arm and place it carefully on the mat",
+    "Take the lace-up shoe and put it on the mat",
+    "Pick the the brown sole shoe from the table and place it gently on the mat",
+    "Pick the the shoe with textured brown sole off the table and position it on the mat",
+    "Use the left arm to grab the shoe with smooth leather upper from the table and move it to the mat",
+    "Using the left arm, lift the footwear with white top from the table and place it onto the mat",
+    "Use the left arm to lift the footwear with white top from the table and set it on the mat",
+    "Pick up the white shoe with the left arm, move it from the table, and set it on the mat",
+    "Lift the white shoe and place it on the mat",
+    "Use the left arm to lift the white shoe with black accents from the table and set it on the mat",
+    "Take the footwear with white top from the table and carefully drop it on the mat",
+    "Lift the footwear with white top from the table and place it carefully on the mat",
+    "With the left arm, grab the brown sole shoe off the table and place it onto the mat",
+    "With the left arm, pick the rounded-toe gym shoe up from the table and put it on the mat",
+    "Pick up the footwear with white top with the left arm from the table and place it on the mat",
+    "Grab the lace-up black and white shoe using the left arm, move it from the table to the mat",
+    "Take the the shoe with smooth leather upper from the table using the left arm and drop it on the mat",
+    "Use the left arm to lift the the lace-up black and white shoe from the table and set it on the mat",
+    "Grab the sports shoe from the table and place it on the mat",
+    "Take the brown sole shoe from the table and position it on the mat",
+    "Use the left arm to pick up the brown sole shoe from the table and drop it on the mat",
+    "Pick up the white shoe with rubber bottom from the table and set it on the mat",
+    "Take the the footwear with white top off the table and put it on the mat",
+    "Take the rounded-toe gym shoe from the table and put it on the mat",
+    "Remove the footwear with white top from the table and lay it on the mat",
+    "Use the left arm to grab the shoe with textured brown sole and transfer it to the mat",
+    "Pick up the footwear with white top and move it to the mat",
+    "Grab the white shoe from the table with the left arm and place it on the mat",
+    "Lift the the shoe with textured brown sole from the table and place it onto the mat",
+    "Lift the shoe with smooth leather upper from the table and gently place it onto the mat"
+  ],
+  "unseen": [
+    "Use the left arm to lift the shoe with black stripes and drop it on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Pick up the shoe with black stripes from the table and set it down on the mat",
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole off the table and drop it on the mat",
+    "Grab the the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the left arm to grab the shoe with striped design from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripes and drop it on the mat",
+    "Grab the shoe with striped design from the table and place it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Pick up the shoe with striped design from the table and set it down on the mat",
+    "Pick up the the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole off the table and drop it on the mat",
+    "Grab the the shoe with striped design from the table and set it on the mat",
+    "Use the left arm to grab the shoe with black stripes from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripes and drop it on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Pick up the shoe with striped design from the table and set it down on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Grab the shoe with black stripes off the table and drop it on the mat",
+    "Grab the the shoe with striped design from the table and set it on the mat",
+    "Use the left arm to grab the shoe with black stripes from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Use the left arm to lift the white leather shoe with gum sole and drop it on the mat",
+    "Grab the shoe with striped design from the table and place it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it down on the mat",
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Grab the the shoe with striped design from the table and set it on the mat",
+    "Use the left arm to grab the shoe with striped design from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripes and drop it on the mat",
+    "Grab the shoe with black stripes from the table and place it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Pick up the shoe with striped design from the table and set it down on the mat",
+    "Pick up the the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the shoe with black stripes off the table and drop it on the mat",
+    "Grab the the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the left arm to grab the shoe with black stripes from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripes and drop it on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole and set it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Pick up the shoe with black stripes from the table and set it down on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Grab the shoe with black stripes off the table and drop it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Use the left arm to grab the shoe with black stripes from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Use the left arm to lift the shoe with striped design and drop it on the mat",
+    "Grab the shoe with black stripes from the table and place it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Pick up the shoe with striped design from the table and set it down on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Grab the the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the left arm to grab the shoe with black stripes from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripes and drop it on the mat",
+    "Grab the shoe with striped design from the table and place it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Pick up the shoe with black stripes from the table and set it down on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole off the table and drop it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Use the left arm to grab the shoe with black stripes from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the left arm to lift the shoe with striped design and drop it on the mat",
+    "Grab the shoe with black stripes from the table and place it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Pick up the shoe with striped design from the table and set it down on the mat",
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Grab the the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the left arm to grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Use the left arm to lift the white leather shoe with gum sole and drop it on the mat",
+    "Grab the shoe with striped design from the table and place it on the mat",
+    "Grab the white leather shoe with gum sole and set it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Pick up the shoe with striped design from the table and set it down on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Grab the shoe with black stripes off the table and drop it on the mat",
+    "Grab the the white leather shoe with gum sole from the table and set it on the mat",
+    "Use the left arm to grab the shoe with striped design from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode45.json b/place_shoe/demo_clean/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..c36e57709746e3d0459df6addcbae0343e7593c9
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Remove the rubber sole shoe from the table and lay it on the mat",
+    "Take the white sneaker with red accents from the table and put it on the mat",
+    "Pick up the shoe with flat rubber sole with the right arm from the table and place it on the mat",
+    "Take the the canvas shoe with grooved sole off the table and put it on the mat",
+    "Retrieve the white shoe with flat sole from the table and set it on the mat",
+    "Pick the the medium-sized adult shoe from the table and place it gently on the mat",
+    "Take the rounded front shoe with the right arm and place it carefully on the mat",
+    "Grab the canvas shoe with grooved sole from the table and place it on the mat",
+    "Take the rounded front shoe from the table and position it on the mat",
+    "Use the right arm to pick up the lace-up canvas shoe from the table and drop it on the mat",
+    "Grab the comfortable white and red shoe from the table with the right arm and place it on the mat",
+    "Lift the comfortable white and red shoe from the table and gently place it onto the mat",
+    "With the right arm, grab the white sneaker with red accents from the table and place it on the mat",
+    "Lift the white shoe with flat sole from the table and place it carefully on the mat",
+    "Use the right arm to grab the the white shoe with red tag and put it on the mat",
+    "Use the right arm to lift the white sneaker with red accents from the table and set it on the mat",
+    "Lift the the shoe with flat rubber sole from the table and place it onto the mat",
+    "Move the shoe with flat rubber sole from the table to the mat",
+    "Lift the canvas shoe with grooved sole and place it on the mat",
+    "Use the right arm to grab the canvas shoe with grooved sole from the table and move it to the mat",
+    "Use the right arm to lift the the canvas shoe with grooved sole from the table and set it on the mat",
+    "Pick up the medium-sized adult shoe from the table and set it on the mat",
+    "Pick the lace-up sneaker up from the table and drop it directly on the mat",
+    "Pick up the classic sneaker design shoe and move it to the mat",
+    "Grab the the rounded front shoe on the table and move it to the mat",
+    "Take the medium-sized adult shoe from the table and place it on the mat",
+    "Use the right arm to pick the rubber sole shoe and position it on the mat",
+    "Transfer the comfortable white and red shoe from the table to the mat",
+    "Use the right arm to lift the classic sneaker design shoe from the table and set it on the mat",
+    "Pick the canvas shoe with grooved sole up from the table and put it on the mat",
+    "Lift the the canvas shoe with grooved sole from the table using the right arm and place it on the mat",
+    "Use the right arm to grab the the white shoe with flat sole from the table and set it on the mat",
+    "Use the right arm to pick the medium-sized adult shoe off the table and move it onto the mat",
+    "Using the right arm, grasp the white shoe with flat sole from the table and place it onto the mat",
+    "With the right arm, grab the rubber sole shoe off the table and place it onto the mat",
+    "Move the lace-up canvas shoe from the table and place it down on the mat",
+    "Pick up the shoe with flat rubber sole with the right arm, move it from the table, and set it on the mat",
+    "Take the classic sneaker design shoe from the table and carefully drop it on the mat",
+    "Lift the medium-sized adult shoe using the right arm from the table and place it on the mat",
+    "Using the right arm, lift the white shoe with flat sole from the table and place it onto the mat",
+    "Use the right arm to grab the lace-up canvas shoe and transfer it to the mat",
+    "Grab the shoe with flat rubber sole using the right arm, move it from the table to the mat",
+    "With the right arm, pick the white sneaker with red accents up from the table and put it on the mat",
+    "Take the the comfortable white and red shoe from the table using the right arm and drop it on the mat",
+    "Pick the the shoe with flat rubber sole off the table and position it on the mat",
+    "Grab the classic sneaker design shoe using the right arm and drop it on the mat",
+    "Take the shoe with flat rubber sole and put it on the mat",
+    "Move the shoe with flat rubber sole from the table to the mat",
+    "Move the shoe with flat rubber sole from the table to the mat in one fluid motion",
+    "Lift the classic sneaker design shoe off the table using the right arm and drop it on the mat",
+    "Remove the lace-up canvas shoe from the table and lay it on the mat",
+    "Take the rounded front shoe from the table and put it on the mat",
+    "Pick up the rounded front shoe with the right arm from the table and place it on the mat",
+    "Take the the rubber sole shoe off the table and put it on the mat",
+    "Retrieve the white shoe with flat sole from the table and set it on the mat",
+    "Pick the the canvas shoe with grooved sole from the table and place it gently on the mat",
+    "Take the medium-sized adult shoe with the right arm and place it carefully on the mat",
+    "Grab the shoe with flat rubber sole from the table and place it on the mat",
+    "Take the white shoe with red tag from the table and position it on the mat",
+    "Use the right arm to pick up the white sneaker with red accents from the table and drop it on the mat",
+    "Grab the lace-up canvas shoe from the table with the right arm and place it on the mat",
+    "Lift the classic sneaker design shoe from the table and gently place it onto the mat",
+    "With the right arm, grab the lace-up canvas shoe from the table and place it on the mat",
+    "Lift the lace-up canvas shoe from the table and place it carefully on the mat",
+    "Use the right arm to grab the the white sneaker with red accents and put it on the mat",
+    "Use the right arm to lift the medium-sized adult shoe from the table and set it on the mat",
+    "Lift the the comfortable white and red shoe from the table and place it onto the mat",
+    "Move the white sneaker with red accents from the table to the mat",
+    "Lift the lace-up canvas shoe and place it on the mat",
+    "Use the right arm to grab the lace-up sneaker from the table and move it to the mat",
+    "Use the right arm to lift the the medium-sized adult shoe from the table and set it on the mat",
+    "Pick up the lace-up canvas shoe from the table and set it on the mat",
+    "Pick the white shoe with red tag up from the table and drop it directly on the mat",
+    "Pick up the rubber sole shoe and move it to the mat",
+    "Grab the the shoe with flat rubber sole on the table and move it to the mat",
+    "Take the white shoe with flat sole from the table and place it on the mat",
+    "Use the right arm to pick the canvas shoe with grooved sole and position it on the mat",
+    "Transfer the classic sneaker design shoe from the table to the mat",
+    "Use the right arm to lift the lace-up sneaker from the table and set it on the mat",
+    "Pick the lace-up sneaker up from the table and put it on the mat",
+    "Lift the the canvas shoe with grooved sole from the table using the right arm and place it on the mat",
+    "Use the right arm to grab the the classic sneaker design shoe from the table and set it on the mat",
+    "Use the right arm to pick the shoe with flat rubber sole off the table and move it onto the mat",
+    "Using the right arm, grasp the shoe with flat rubber sole from the table and place it onto the mat",
+    "With the right arm, grab the lace-up canvas shoe off the table and place it onto the mat",
+    "Move the comfortable white and red shoe from the table and place it down on the mat",
+    "Pick up the medium-sized adult shoe with the right arm, move it from the table, and set it on the mat",
+    "Take the canvas shoe with grooved sole from the table and carefully drop it on the mat",
+    "Lift the rounded front shoe using the right arm from the table and place it on the mat",
+    "Using the right arm, lift the shoe with flat rubber sole from the table and place it onto the mat",
+    "Use the right arm to grab the medium-sized adult shoe and transfer it to the mat",
+    "Grab the white shoe with red tag using the right arm, move it from the table to the mat",
+    "With the right arm, pick the comfortable white and red shoe up from the table and put it on the mat",
+    "Take the the white shoe with flat sole from the table using the right arm and drop it on the mat",
+    "Pick the the lace-up canvas shoe off the table and position it on the mat",
+    "Grab the lace-up sneaker using the right arm and drop it on the mat",
+    "Take the rubber sole shoe and put it on the mat",
+    "Move the comfortable white and red shoe from the table to the mat",
+    "Move the comfortable white and red shoe from the table to the mat in one fluid motion",
+    "Lift the lace-up canvas shoe off the table using the right arm and drop it on the mat"
+  ],
+  "unseen": [
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Use the right arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Use the right arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Use the right arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Use the right arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode46.json b/place_shoe/demo_clean/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dbb1e88bc4d0080b30cf86b3d2a3acf19041636
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the shoe with curved sole from the table and gently place it onto the mat",
+    "Move the white sneaker shoe from the table and place it down on the mat",
+    "Pick the the shoe with textured sole off the table and position it on the mat",
+    "Use the right arm to lift the the shoe with textured sole from the table and set it on the mat",
+    "Lift the white shoe with rubber sole from the table and place it carefully on the mat",
+    "Lift the medium white shoe off the table using the right arm and drop it on the mat",
+    "Take the white shoe with rubber sole from the table and position it on the mat",
+    "Use the right arm to grab the the smooth white shoe and put it on the mat",
+    "Take the smooth white shoe from the table and put it on the mat",
+    "Grab the the white sneaker shoe on the table and move it to the mat",
+    "Take the the shoe with curved sole off the table and put it on the mat",
+    "Pick up the smooth white shoe and move it to the mat",
+    "Use the right arm to grab the shoe with patterned bottom and transfer it to the mat",
+    "Move the smooth white shoe from the table to the mat in one fluid motion",
+    "With the right arm, grab the synthetic leather shoe from the table and place it on the mat",
+    "Transfer the shoe with textured sole from the table to the mat",
+    "Move the smooth white shoe from the table to the mat",
+    "With the right arm, grab the medium white shoe off the table and place it onto the mat",
+    "Pick the the shoe with textured sole from the table and place it gently on the mat",
+    "With the right arm, pick the shoe with lace holes up from the table and put it on the mat",
+    "Pick up the smooth white shoe from the table and set it on the mat",
+    "Pick up the medium-sized rounded white shoe with the right arm from the table and place it on the mat",
+    "Use the right arm to grab the medium white shoe from the table and move it to the mat",
+    "Lift the white sneaker shoe and place it on the mat",
+    "Grab the shoe for walking from the table and place it on the mat",
+    "Take the shoe with textured sole and put it on the mat",
+    "Grab the shoe with patterned bottom using the right arm, move it from the table to the mat",
+    "Grab the white sneaker shoe using the right arm and drop it on the mat",
+    "Take the shoe with lace holes with the right arm and place it carefully on the mat",
+    "Use the right arm to pick up the shoe with curved sole from the table and drop it on the mat",
+    "Grab the medium-sized rounded white shoe from the table with the right arm and place it on the mat",
+    "Retrieve the medium-sized rounded white shoe from the table and set it on the mat",
+    "Use the right arm to pick the shoe with curved sole off the table and move it onto the mat",
+    "Pick the medium white shoe up from the table and drop it directly on the mat",
+    "Take the synthetic leather shoe from the table and place it on the mat",
+    "Use the right arm to lift the shoe with curved sole from the table and set it on the mat",
+    "Move the smooth white shoe from the table to the mat",
+    "Lift the shoe for walking using the right arm from the table and place it on the mat",
+    "Using the right arm, grasp the shoe with lace holes from the table and place it onto the mat",
+    "Pick up the shoe for walking with the right arm, move it from the table, and set it on the mat",
+    "Lift the the medium-sized rounded white shoe from the table using the right arm and place it on the mat",
+    "Remove the white sneaker shoe from the table and lay it on the mat",
+    "Use the right arm to lift the shoe with patterned bottom from the table and set it on the mat",
+    "Lift the the synthetic leather shoe from the table and place it onto the mat",
+    "Take the shoe with patterned bottom from the table and carefully drop it on the mat",
+    "Use the right arm to grab the the white shoe with rubber sole from the table and set it on the mat",
+    "Pick the white sneaker shoe up from the table and put it on the mat",
+    "Take the the shoe with lace holes from the table using the right arm and drop it on the mat",
+    "Using the right arm, lift the white sneaker shoe from the table and place it onto the mat",
+    "Use the right arm to pick the smooth white shoe and position it on the mat",
+    "Lift the smooth white shoe from the table and gently place it onto the mat",
+    "Move the shoe for walking from the table and place it down on the mat",
+    "Pick the the shoe with patterned bottom off the table and position it on the mat",
+    "Use the right arm to lift the the shoe with patterned bottom from the table and set it on the mat",
+    "Lift the medium white shoe from the table and place it carefully on the mat",
+    "Lift the white sneaker shoe off the table using the right arm and drop it on the mat",
+    "Take the shoe with lace holes from the table and position it on the mat",
+    "Use the right arm to grab the the rubber sole shoe and put it on the mat",
+    "Take the synthetic leather shoe from the table and put it on the mat",
+    "Grab the the medium white shoe on the table and move it to the mat",
+    "Take the the white sneaker shoe off the table and put it on the mat",
+    "Pick up the shoe with curved sole and move it to the mat",
+    "Use the right arm to grab the shoe with patterned bottom and transfer it to the mat",
+    "Move the rubber sole shoe from the table to the mat in one fluid motion",
+    "With the right arm, grab the medium white shoe from the table and place it on the mat",
+    "Transfer the white sneaker shoe from the table to the mat",
+    "Move the medium-sized rounded white shoe from the table to the mat",
+    "With the right arm, grab the shoe for walking off the table and place it onto the mat",
+    "Pick the the medium-sized rounded white shoe from the table and place it gently on the mat",
+    "With the right arm, pick the shoe with patterned bottom up from the table and put it on the mat",
+    "Pick up the synthetic leather shoe from the table and set it on the mat",
+    "Pick up the white shoe with rubber sole with the right arm from the table and place it on the mat",
+    "Use the right arm to grab the shoe with curved sole from the table and move it to the mat",
+    "Lift the white sneaker shoe and place it on the mat",
+    "Grab the medium-sized rounded white shoe from the table and place it on the mat",
+    "Take the white sneaker shoe and put it on the mat",
+    "Grab the shoe for walking using the right arm, move it from the table to the mat",
+    "Grab the medium white shoe using the right arm and drop it on the mat",
+    "Take the shoe with textured sole with the right arm and place it carefully on the mat",
+    "Use the right arm to pick up the shoe for walking from the table and drop it on the mat",
+    "Grab the shoe with textured sole from the table with the right arm and place it on the mat",
+    "Retrieve the medium-sized rounded white shoe from the table and set it on the mat",
+    "Use the right arm to pick the medium white shoe off the table and move it onto the mat",
+    "Pick the shoe with patterned bottom up from the table and drop it directly on the mat",
+    "Take the medium white shoe from the table and place it on the mat",
+    "Use the right arm to lift the shoe with patterned bottom from the table and set it on the mat",
+    "Move the shoe with lace holes from the table to the mat",
+    "Lift the shoe with lace holes using the right arm from the table and place it on the mat",
+    "Using the right arm, grasp the white shoe with rubber sole from the table and place it onto the mat",
+    "Pick up the shoe with patterned bottom with the right arm, move it from the table, and set it on the mat",
+    "Lift the the rubber sole shoe from the table using the right arm and place it on the mat",
+    "Remove the synthetic leather shoe from the table and lay it on the mat",
+    "Use the right arm to lift the smooth white shoe from the table and set it on the mat",
+    "Lift the the shoe with patterned bottom from the table and place it onto the mat",
+    "Take the medium-sized rounded white shoe from the table and carefully drop it on the mat",
+    "Use the right arm to grab the the synthetic leather shoe from the table and set it on the mat",
+    "Pick the white sneaker shoe up from the table and put it on the mat",
+    "Take the the rubber sole shoe from the table using the right arm and drop it on the mat",
+    "Using the right arm, lift the rubber sole shoe from the table and place it onto the mat",
+    "Use the right arm to pick the white sneaker shoe and position it on the mat"
+  ],
+  "unseen": [
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode47.json b/place_shoe/demo_clean/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..792dbda26a1f07b9262cdc705d300f3a65a2e576
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the average adult-sized shoe from the table and place it on the mat",
+    "Take the shoe with smooth top and grippy sole with the right arm and place it carefully on the mat",
+    "Pick up the dual-tone shoe with sleek design and move it to the mat",
+    "Lift the comfortable shoe for walking from the table and place it carefully on the mat",
+    "Use the right arm to grab the the black and white shoe and put it on the mat",
+    "Pick the shoe with smooth top and grippy sole up from the table and drop it directly on the mat",
+    "Pick the wearable foot protector shoe up from the table and put it on the mat",
+    "Move the black and white shoe from the table to the mat in one fluid motion",
+    "Use the right arm to lift the dual-tone shoe with sleek design from the table and set it on the mat",
+    "Use the right arm to grab the the average adult-sized shoe from the table and set it on the mat",
+    "Remove the black and white shoe from the table and lay it on the mat",
+    "Grab the black shoe with white accents from the table and place it on the mat",
+    "Take the comfortable shoe for walking from the table and put it on the mat",
+    "Lift the medium-sized black and white shoe from the table and gently place it onto the mat",
+    "Grab the black and white shoe using the right arm, move it from the table to the mat",
+    "Take the average adult-sized shoe and put it on the mat",
+    "Lift the the medium-sized black and white shoe from the table using the right arm and place it on the mat",
+    "Lift the the shoe made of rubber and leather from the table and place it onto the mat",
+    "Use the right arm to pick up the average adult-sized shoe from the table and drop it on the mat",
+    "Take the shoe with curved sole from the table and position it on the mat",
+    "Use the right arm to pick the comfortable shoe for walking and position it on the mat",
+    "With the right arm, pick the shoe with curved sole up from the table and put it on the mat",
+    "Use the right arm to pick the synthetic leather shoe off the table and move it onto the mat",
+    "Use the right arm to grab the synthetic leather shoe from the table and move it to the mat",
+    "Lift the comfortable shoe for walking and place it on the mat",
+    "Grab the the synthetic leather shoe on the table and move it to the mat",
+    "Use the right arm to grab the comfortable shoe for walking and transfer it to the mat",
+    "Retrieve the shoe with curved sole from the table and set it on the mat",
+    "Using the right arm, grasp the medium-sized black and white shoe from the table and place it onto the mat",
+    "Pick up the shoe with smooth top and grippy sole with the right arm from the table and place it on the mat",
+    "Take the the wearable foot protector shoe from the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the comfortable shoe for walking from the table and set it on the mat",
+    "Move the rubber-soled shoe with lace-up top from the table to the mat",
+    "Transfer the synthetic leather shoe from the table to the mat",
+    "Use the right arm to lift the the medium-sized black and white shoe from the table and set it on the mat",
+    "Grab the black and white shoe using the right arm and drop it on the mat",
+    "Move the average adult-sized shoe from the table and place it down on the mat",
+    "Using the right arm, lift the dual-tone shoe with sleek design from the table and place it onto the mat",
+    "Take the the black and white shoe off the table and put it on the mat",
+    "With the right arm, grab the synthetic leather shoe off the table and place it onto the mat",
+    "Move the medium-sized black and white shoe from the table to the mat",
+    "With the right arm, grab the shoe with curved sole from the table and place it on the mat",
+    "Pick the the shoe made of rubber and leather off the table and position it on the mat",
+    "Take the synthetic leather shoe from the table and carefully drop it on the mat",
+    "Lift the synthetic leather shoe using the right arm from the table and place it on the mat",
+    "Lift the dual-tone shoe with sleek design off the table using the right arm and drop it on the mat",
+    "Pick up the wearable foot protector shoe with the right arm, move it from the table, and set it on the mat",
+    "Pick the the dual-tone shoe with sleek design from the table and place it gently on the mat",
+    "Pick up the medium-sized black and white shoe from the table and set it on the mat",
+    "Grab the dual-tone shoe with sleek design from the table with the right arm and place it on the mat",
+    "Take the dual-tone shoe with sleek design from the table and place it on the mat",
+    "Take the shoe with curved sole with the right arm and place it carefully on the mat",
+    "Pick up the black shoe with white accents and move it to the mat",
+    "Lift the dual-tone shoe with sleek design from the table and place it carefully on the mat",
+    "Use the right arm to grab the the black shoe with white accents and put it on the mat",
+    "Pick the shoe made of rubber and leather up from the table and drop it directly on the mat",
+    "Pick the synthetic leather shoe up from the table and put it on the mat",
+    "Move the shoe with curved sole from the table to the mat in one fluid motion",
+    "Use the right arm to lift the medium-sized black and white shoe from the table and set it on the mat",
+    "Use the right arm to grab the the comfortable shoe for walking from the table and set it on the mat",
+    "Remove the medium-sized black and white shoe from the table and lay it on the mat",
+    "Grab the synthetic leather shoe from the table and place it on the mat",
+    "Take the shoe with curved sole from the table and put it on the mat",
+    "Lift the medium-sized black and white shoe from the table and gently place it onto the mat",
+    "Grab the shoe with smooth top and grippy sole using the right arm, move it from the table to the mat",
+    "Take the medium-sized black and white shoe and put it on the mat",
+    "Lift the the rubber-soled shoe with lace-up top from the table using the right arm and place it on the mat",
+    "Lift the the rubber-soled shoe with lace-up top from the table and place it onto the mat",
+    "Use the right arm to pick up the dual-tone shoe with sleek design from the table and drop it on the mat",
+    "Take the black shoe with white accents from the table and position it on the mat",
+    "Use the right arm to pick the shoe made of rubber and leather and position it on the mat",
+    "With the right arm, pick the black shoe with white accents up from the table and put it on the mat",
+    "Use the right arm to pick the black and white shoe off the table and move it onto the mat",
+    "Use the right arm to grab the dual-tone shoe with sleek design from the table and move it to the mat",
+    "Lift the average adult-sized shoe and place it on the mat",
+    "Grab the the comfortable shoe for walking on the table and move it to the mat",
+    "Use the right arm to grab the average adult-sized shoe and transfer it to the mat",
+    "Retrieve the average adult-sized shoe from the table and set it on the mat",
+    "Using the right arm, grasp the shoe with smooth top and grippy sole from the table and place it onto the mat",
+    "Pick up the shoe made of rubber and leather with the right arm from the table and place it on the mat",
+    "Take the the black and white shoe from the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the synthetic leather shoe from the table and set it on the mat",
+    "Move the black shoe with white accents from the table to the mat",
+    "Transfer the shoe with smooth top and grippy sole from the table to the mat",
+    "Use the right arm to lift the the comfortable shoe for walking from the table and set it on the mat",
+    "Grab the black and white shoe using the right arm and drop it on the mat",
+    "Move the rubber-soled shoe with lace-up top from the table and place it down on the mat",
+    "Using the right arm, lift the medium-sized black and white shoe from the table and place it onto the mat",
+    "Take the the shoe made of rubber and leather off the table and put it on the mat",
+    "With the right arm, grab the shoe with smooth top and grippy sole off the table and place it onto the mat",
+    "Move the rubber-soled shoe with lace-up top from the table to the mat",
+    "With the right arm, grab the shoe made of rubber and leather from the table and place it on the mat",
+    "Pick the the wearable foot protector shoe off the table and position it on the mat",
+    "Take the medium-sized black and white shoe from the table and carefully drop it on the mat",
+    "Lift the medium-sized black and white shoe using the right arm from the table and place it on the mat",
+    "Lift the rubber-soled shoe with lace-up top off the table using the right arm and drop it on the mat",
+    "Pick up the black shoe with white accents with the right arm, move it from the table, and set it on the mat",
+    "Pick the the medium-sized black and white shoe from the table and place it gently on the mat",
+    "Pick up the shoe with curved sole from the table and set it on the mat",
+    "Grab the black shoe with white accents from the table with the right arm and place it on the mat"
+  ],
+  "unseen": [
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Use the right arm to lift the black shoe with white midsole and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Use the right arm to lift the black shoe with white midsole and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode48.json b/place_shoe/demo_clean/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f4cd8152666105dfee4b2215f356c19ef196e0e
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift the shoe for walking with rubber grip from the table and set it on the mat",
+    "With the right arm, grab the dark brown leather shoe from the table and place it on the mat",
+    "Lift the shoe for everyday wear and place it on the mat",
+    "Take the rounded front shoe and put it on the mat",
+    "Use the right arm to grab the the smooth leather shoe and put it on the mat",
+    "Take the shoe for everyday wear from the table and position it on the mat",
+    "Pick the the dark shoe with grooves on sole off the table and position it on the mat",
+    "Pick up the rounded front shoe and move it to the mat",
+    "Lift the the medium-sized walking shoe from the table using the right arm and place it on the mat",
+    "Take the rounded tip leather shoe from the table and put it on the mat",
+    "Lift the smooth leather shoe from the table and place it carefully on the mat",
+    "Move the shoe for walking with rubber grip from the table and place it down on the mat",
+    "Take the shoe for everyday wear from the table and carefully drop it on the mat",
+    "Use the right arm to grab the shoe with thick rubber sole from the table and move it to the mat",
+    "Transfer the shoe with thick rubber sole from the table to the mat",
+    "Grab the dark shoe with grooves on sole from the table with the right arm and place it on the mat",
+    "Using the right arm, grasp the shoe with lace holes from the table and place it onto the mat",
+    "Grab the the shoe for walking with rubber grip on the table and move it to the mat",
+    "Using the right arm, lift the medium-sized walking shoe from the table and place it onto the mat",
+    "Lift the the shoe with lace holes from the table and place it onto the mat",
+    "Take the the dark brown leather shoe off the table and put it on the mat",
+    "Grab the dark shoe with grooves on sole using the right arm and drop it on the mat",
+    "Lift the brown shoe using the right arm from the table and place it on the mat",
+    "Use the right arm to grab the the shoe for everyday wear from the table and set it on the mat",
+    "Lift the dark shoe with grooves on sole from the table and gently place it onto the mat",
+    "Grab the brown shoe using the right arm, move it from the table to the mat",
+    "Move the shoe for everyday wear from the table to the mat",
+    "Pick the brown shoe up from the table and drop it directly on the mat",
+    "With the right arm, pick the medium-sized walking shoe up from the table and put it on the mat",
+    "With the right arm, grab the smooth leather shoe off the table and place it onto the mat",
+    "Retrieve the shoe with lace holes from the table and set it on the mat",
+    "Use the right arm to lift the the medium-sized walking shoe from the table and set it on the mat",
+    "Use the right arm to pick the medium-sized walking shoe off the table and move it onto the mat",
+    "Take the dark brown leather shoe with the right arm and place it carefully on the mat",
+    "Remove the shoe with grooved bottom from the table and lay it on the mat",
+    "Use the right arm to pick the brown shoe and position it on the mat",
+    "Move the medium-sized walking shoe from the table to the mat in one fluid motion",
+    "Take the the shoe with grooved bottom from the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the shoe with lace holes from the table and set it on the mat",
+    "Lift the dark brown leather shoe off the table using the right arm and drop it on the mat",
+    "Pick the rounded tip leather shoe up from the table and put it on the mat",
+    "Pick the the shoe with thick rubber sole from the table and place it gently on the mat",
+    "Use the right arm to grab the dark brown leather shoe and transfer it to the mat",
+    "Grab the dark shoe with grooves on sole from the table and place it on the mat",
+    "Move the shoe with thick rubber sole from the table to the mat",
+    "Take the shoe for walking with rubber grip from the table and place it on the mat",
+    "Use the right arm to pick up the smooth leather shoe from the table and drop it on the mat",
+    "Pick up the rounded front shoe with the right arm from the table and place it on the mat",
+    "Pick up the rounded tip leather shoe with the right arm, move it from the table, and set it on the mat",
+    "Pick up the medium-sized walking shoe from the table and set it on the mat",
+    "Use the right arm to lift the rounded tip leather shoe from the table and set it on the mat",
+    "With the right arm, grab the dark brown leather shoe from the table and place it on the mat",
+    "Lift the rounded tip leather shoe and place it on the mat",
+    "Take the smooth leather shoe and put it on the mat",
+    "Use the right arm to grab the the shoe with grooved bottom and put it on the mat",
+    "Take the rounded front shoe from the table and position it on the mat",
+    "Pick the the dark brown leather shoe off the table and position it on the mat",
+    "Pick up the dark brown leather shoe and move it to the mat",
+    "Lift the the dark shoe with grooves on sole from the table using the right arm and place it on the mat",
+    "Take the brown shoe from the table and put it on the mat",
+    "Lift the dark shoe with grooves on sole from the table and place it carefully on the mat",
+    "Move the shoe with thick rubber sole from the table and place it down on the mat",
+    "Take the rounded tip leather shoe from the table and carefully drop it on the mat",
+    "Use the right arm to grab the smooth leather shoe from the table and move it to the mat",
+    "Transfer the brown shoe from the table to the mat",
+    "Grab the shoe with thick rubber sole from the table with the right arm and place it on the mat",
+    "Using the right arm, grasp the brown shoe from the table and place it onto the mat",
+    "Grab the the shoe with lace holes on the table and move it to the mat",
+    "Using the right arm, lift the rounded tip leather shoe from the table and place it onto the mat",
+    "Lift the the shoe for walking with rubber grip from the table and place it onto the mat",
+    "Take the the dark brown leather shoe off the table and put it on the mat",
+    "Grab the dark brown leather shoe using the right arm and drop it on the mat",
+    "Lift the rounded front shoe using the right arm from the table and place it on the mat",
+    "Use the right arm to grab the the shoe with grooved bottom from the table and set it on the mat",
+    "Lift the shoe for walking with rubber grip from the table and gently place it onto the mat",
+    "Grab the shoe for everyday wear using the right arm, move it from the table to the mat",
+    "Move the dark brown leather shoe from the table to the mat",
+    "Pick the dark brown leather shoe up from the table and drop it directly on the mat",
+    "With the right arm, pick the rounded front shoe up from the table and put it on the mat",
+    "With the right arm, grab the shoe with lace holes off the table and place it onto the mat",
+    "Retrieve the brown shoe from the table and set it on the mat",
+    "Use the right arm to lift the the shoe for walking with rubber grip from the table and set it on the mat",
+    "Use the right arm to pick the dark brown leather shoe off the table and move it onto the mat",
+    "Take the shoe with lace holes with the right arm and place it carefully on the mat",
+    "Remove the shoe with lace holes from the table and lay it on the mat",
+    "Use the right arm to pick the rounded front shoe and position it on the mat",
+    "Move the smooth leather shoe from the table to the mat in one fluid motion",
+    "Take the the shoe with lace holes from the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the dark brown leather shoe from the table and set it on the mat",
+    "Lift the shoe with grooved bottom off the table using the right arm and drop it on the mat",
+    "Pick the shoe for everyday wear up from the table and put it on the mat",
+    "Pick the the brown shoe from the table and place it gently on the mat",
+    "Use the right arm to grab the shoe with thick rubber sole and transfer it to the mat",
+    "Grab the shoe for walking with rubber grip from the table and place it on the mat",
+    "Move the medium-sized walking shoe from the table to the mat",
+    "Take the smooth leather shoe from the table and place it on the mat",
+    "Use the right arm to pick up the brown shoe from the table and drop it on the mat",
+    "Pick up the shoe for walking with rubber grip with the right arm from the table and place it on the mat",
+    "Pick up the shoe with thick rubber sole with the right arm, move it from the table, and set it on the mat",
+    "Pick up the rounded tip leather shoe from the table and set it on the mat"
+  ],
+  "unseen": [
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode49.json b/place_shoe/demo_clean/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..4908381cd79f549a80cb5c7793abb52a25775770
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the synthetic leather shoe from the table to the mat",
+    "Lift the shoe made of rubber and leather from the table and place it carefully on the mat",
+    "Lift the the shoe with smooth top and grippy sole from the table and place it onto the mat",
+    "Grab the comfortable shoe for walking using the right arm and drop it on the mat",
+    "Take the the wearable foot protector shoe from the table using the right arm and drop it on the mat",
+    "Grab the the black and white shoe on the table and move it to the mat",
+    "Take the rubber-soled shoe with lace-up top from the table and put it on the mat",
+    "Use the right arm to lift the black and white shoe from the table and set it on the mat",
+    "Transfer the rubber-soled shoe with lace-up top from the table to the mat",
+    "Pick up the synthetic leather shoe with the right arm from the table and place it on the mat",
+    "Use the right arm to lift the the comfortable shoe for walking from the table and set it on the mat",
+    "Using the right arm, grasp the comfortable shoe for walking from the table and place it onto the mat",
+    "Take the the shoe made of rubber and leather off the table and put it on the mat",
+    "Move the black shoe with white accents from the table to the mat",
+    "Pick up the shoe with smooth top and grippy sole and move it to the mat",
+    "Take the comfortable shoe for walking and put it on the mat",
+    "Take the synthetic leather shoe with the right arm and place it carefully on the mat",
+    "Take the black shoe with white accents from the table and carefully drop it on the mat",
+    "Grab the rubber-soled shoe with lace-up top from the table with the right arm and place it on the mat",
+    "Pick the the comfortable shoe for walking from the table and place it gently on the mat",
+    "Move the black shoe with white accents from the table and place it down on the mat",
+    "Pick the shoe made of rubber and leather up from the table and drop it directly on the mat",
+    "Move the average adult-sized shoe from the table to the mat in one fluid motion",
+    "Pick the comfortable shoe for walking up from the table and put it on the mat",
+    "Use the right arm to pick the wearable foot protector shoe off the table and move it onto the mat",
+    "Remove the shoe with curved sole from the table and lay it on the mat",
+    "Pick the the synthetic leather shoe off the table and position it on the mat",
+    "Pick up the rubber-soled shoe with lace-up top from the table and set it on the mat",
+    "Use the right arm to pick up the shoe made of rubber and leather from the table and drop it on the mat",
+    "Lift the shoe with curved sole off the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the medium-sized black and white shoe and transfer it to the mat",
+    "Retrieve the medium-sized black and white shoe from the table and set it on the mat",
+    "Use the right arm to grab the the black and white shoe and put it on the mat",
+    "Use the right arm to grab the shoe made of rubber and leather from the table and move it to the mat",
+    "With the right arm, grab the synthetic leather shoe off the table and place it onto the mat",
+    "Use the right arm to lift the comfortable shoe for walking from the table and set it on the mat",
+    "Lift the black and white shoe and place it on the mat",
+    "Lift the the black shoe with white accents from the table using the right arm and place it on the mat",
+    "Use the right arm to pick the rubber-soled shoe with lace-up top and position it on the mat",
+    "Lift the shoe made of rubber and leather using the right arm from the table and place it on the mat",
+    "Grab the rubber-soled shoe with lace-up top using the right arm, move it from the table to the mat",
+    "With the right arm, grab the shoe with smooth top and grippy sole from the table and place it on the mat",
+    "Lift the comfortable shoe for walking from the table and gently place it onto the mat",
+    "Using the right arm, lift the wearable foot protector shoe from the table and place it onto the mat",
+    "Use the right arm to grab the the black and white shoe from the table and set it on the mat",
+    "Take the black shoe with white accents from the table and position it on the mat",
+    "Grab the wearable foot protector shoe from the table and place it on the mat",
+    "With the right arm, pick the black shoe with white accents up from the table and put it on the mat",
+    "Pick up the black and white shoe with the right arm, move it from the table, and set it on the mat",
+    "Take the shoe with smooth top and grippy sole from the table and place it on the mat",
+    "Move the wearable foot protector shoe from the table to the mat",
+    "Lift the black shoe with white accents from the table and place it carefully on the mat",
+    "Lift the the synthetic leather shoe from the table and place it onto the mat",
+    "Grab the average adult-sized shoe using the right arm and drop it on the mat",
+    "Take the the synthetic leather shoe from the table using the right arm and drop it on the mat",
+    "Grab the the shoe with smooth top and grippy sole on the table and move it to the mat",
+    "Take the black and white shoe from the table and put it on the mat",
+    "Use the right arm to lift the shoe made of rubber and leather from the table and set it on the mat",
+    "Transfer the shoe with smooth top and grippy sole from the table to the mat",
+    "Pick up the shoe with smooth top and grippy sole with the right arm from the table and place it on the mat",
+    "Use the right arm to lift the the dual-tone shoe with sleek design from the table and set it on the mat",
+    "Using the right arm, grasp the shoe with curved sole from the table and place it onto the mat",
+    "Take the the wearable foot protector shoe off the table and put it on the mat",
+    "Move the shoe made of rubber and leather from the table to the mat",
+    "Pick up the black shoe with white accents and move it to the mat",
+    "Take the average adult-sized shoe and put it on the mat",
+    "Take the black and white shoe with the right arm and place it carefully on the mat",
+    "Take the synthetic leather shoe from the table and carefully drop it on the mat",
+    "Grab the black shoe with white accents from the table with the right arm and place it on the mat",
+    "Pick the the medium-sized black and white shoe from the table and place it gently on the mat",
+    "Move the dual-tone shoe with sleek design from the table and place it down on the mat",
+    "Pick the wearable foot protector shoe up from the table and drop it directly on the mat",
+    "Move the black and white shoe from the table to the mat in one fluid motion",
+    "Pick the wearable foot protector shoe up from the table and put it on the mat",
+    "Use the right arm to pick the wearable foot protector shoe off the table and move it onto the mat",
+    "Remove the medium-sized black and white shoe from the table and lay it on the mat",
+    "Pick the the rubber-soled shoe with lace-up top off the table and position it on the mat",
+    "Pick up the shoe with smooth top and grippy sole from the table and set it on the mat",
+    "Use the right arm to pick up the medium-sized black and white shoe from the table and drop it on the mat",
+    "Lift the average adult-sized shoe off the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the comfortable shoe for walking and transfer it to the mat",
+    "Retrieve the black shoe with white accents from the table and set it on the mat",
+    "Use the right arm to grab the the shoe with smooth top and grippy sole and put it on the mat",
+    "Use the right arm to grab the dual-tone shoe with sleek design from the table and move it to the mat",
+    "With the right arm, grab the comfortable shoe for walking off the table and place it onto the mat",
+    "Use the right arm to lift the black shoe with white accents from the table and set it on the mat",
+    "Lift the shoe with curved sole and place it on the mat",
+    "Lift the the wearable foot protector shoe from the table using the right arm and place it on the mat",
+    "Use the right arm to pick the rubber-soled shoe with lace-up top and position it on the mat",
+    "Lift the rubber-soled shoe with lace-up top using the right arm from the table and place it on the mat",
+    "Grab the shoe with curved sole using the right arm, move it from the table to the mat",
+    "With the right arm, grab the shoe made of rubber and leather from the table and place it on the mat",
+    "Lift the shoe made of rubber and leather from the table and gently place it onto the mat",
+    "Using the right arm, lift the synthetic leather shoe from the table and place it onto the mat",
+    "Use the right arm to grab the the average adult-sized shoe from the table and set it on the mat",
+    "Take the shoe made of rubber and leather from the table and position it on the mat",
+    "Grab the black shoe with white accents from the table and place it on the mat",
+    "With the right arm, pick the shoe made of rubber and leather up from the table and put it on the mat",
+    "Pick up the synthetic leather shoe with the right arm, move it from the table, and set it on the mat",
+    "Take the dual-tone shoe with sleek design from the table and place it on the mat"
+  ],
+  "unseen": [
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Use the right arm to lift the black shoe with white midsole and drop it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Use the right arm to lift the black shoe with white midsole and drop it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Use the right arm to lift the black shoe with white midsole and drop it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode5.json b/place_shoe/demo_clean/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..3163f84d72f079a0fcc0441d03e92c406af5472a
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the shoe with curved sole with the right arm from the table and place it on the mat",
+    "Lift the rubber-soled shoe with lace-up top from the table and gently place it onto the mat",
+    "Lift the wearable foot protector shoe off the table using the right arm and drop it on the mat",
+    "Lift the shoe with smooth top and grippy sole using the right arm from the table and place it on the mat",
+    "Take the shoe with curved sole from the table and place it on the mat",
+    "Lift the synthetic leather shoe and place it on the mat",
+    "Pick the the black shoe with white accents off the table and position it on the mat",
+    "Grab the black shoe with white accents using the right arm and drop it on the mat",
+    "Use the right arm to grab the dual-tone shoe with sleek design from the table and move it to the mat",
+    "Use the right arm to lift the the black and white shoe from the table and set it on the mat",
+    "Pick up the shoe made of rubber and leather and move it to the mat",
+    "Grab the the medium-sized black and white shoe on the table and move it to the mat",
+    "Using the right arm, grasp the comfortable shoe for walking from the table and place it onto the mat",
+    "Take the medium-sized black and white shoe and put it on the mat",
+    "Take the the wearable foot protector shoe off the table and put it on the mat",
+    "Take the the black shoe with white accents from the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the comfortable shoe for walking from the table and set it on the mat",
+    "Take the shoe made of rubber and leather from the table and put it on the mat",
+    "With the right arm, grab the medium-sized black and white shoe from the table and place it on the mat",
+    "Take the wearable foot protector shoe with the right arm and place it carefully on the mat",
+    "Pick the the shoe with curved sole from the table and place it gently on the mat",
+    "Pick up the black shoe with white accents from the table and set it on the mat",
+    "Pick the shoe with smooth top and grippy sole up from the table and put it on the mat",
+    "Use the right arm to grab the the rubber-soled shoe with lace-up top and put it on the mat",
+    "Use the right arm to grab the average adult-sized shoe and transfer it to the mat",
+    "Lift the the average adult-sized shoe from the table and place it onto the mat",
+    "Move the shoe made of rubber and leather from the table to the mat",
+    "Pick up the dual-tone shoe with sleek design with the right arm, move it from the table, and set it on the mat",
+    "Grab the black shoe with white accents from the table and place it on the mat",
+    "Use the right arm to grab the the black shoe with white accents from the table and set it on the mat",
+    "Move the rubber-soled shoe with lace-up top from the table to the mat in one fluid motion",
+    "Take the wearable foot protector shoe from the table and position it on the mat",
+    "Grab the wearable foot protector shoe using the right arm, move it from the table to the mat",
+    "Move the shoe with curved sole from the table and place it down on the mat",
+    "Take the average adult-sized shoe from the table and carefully drop it on the mat",
+    "Remove the average adult-sized shoe from the table and lay it on the mat",
+    "Use the right arm to lift the average adult-sized shoe from the table and set it on the mat",
+    "Retrieve the shoe made of rubber and leather from the table and set it on the mat",
+    "Lift the the black and white shoe from the table using the right arm and place it on the mat",
+    "Move the wearable foot protector shoe from the table to the mat",
+    "Lift the shoe with curved sole from the table and place it carefully on the mat",
+    "Use the right arm to pick the dual-tone shoe with sleek design and position it on the mat",
+    "Use the right arm to pick up the average adult-sized shoe from the table and drop it on the mat",
+    "Use the right arm to pick the shoe made of rubber and leather off the table and move it onto the mat",
+    "Pick the black shoe with white accents up from the table and drop it directly on the mat",
+    "Using the right arm, lift the shoe made of rubber and leather from the table and place it onto the mat",
+    "Grab the dual-tone shoe with sleek design from the table with the right arm and place it on the mat",
+    "With the right arm, grab the black shoe with white accents off the table and place it onto the mat",
+    "Transfer the black shoe with white accents from the table to the mat",
+    "With the right arm, pick the shoe made of rubber and leather up from the table and put it on the mat",
+    "Pick up the rubber-soled shoe with lace-up top with the right arm from the table and place it on the mat",
+    "Lift the synthetic leather shoe from the table and gently place it onto the mat",
+    "Lift the average adult-sized shoe off the table using the right arm and drop it on the mat",
+    "Lift the black and white shoe using the right arm from the table and place it on the mat",
+    "Take the synthetic leather shoe from the table and place it on the mat",
+    "Lift the average adult-sized shoe and place it on the mat",
+    "Pick the the shoe with curved sole off the table and position it on the mat",
+    "Grab the rubber-soled shoe with lace-up top using the right arm and drop it on the mat",
+    "Use the right arm to grab the medium-sized black and white shoe from the table and move it to the mat",
+    "Use the right arm to lift the the black shoe with white accents from the table and set it on the mat",
+    "Pick up the black shoe with white accents and move it to the mat",
+    "Grab the the shoe with smooth top and grippy sole on the table and move it to the mat",
+    "Using the right arm, grasp the dual-tone shoe with sleek design from the table and place it onto the mat",
+    "Take the shoe with smooth top and grippy sole and put it on the mat",
+    "Take the the shoe with smooth top and grippy sole off the table and put it on the mat",
+    "Take the the comfortable shoe for walking from the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the wearable foot protector shoe from the table and set it on the mat",
+    "Take the black shoe with white accents from the table and put it on the mat",
+    "With the right arm, grab the black and white shoe from the table and place it on the mat",
+    "Take the medium-sized black and white shoe with the right arm and place it carefully on the mat",
+    "Pick the the black and white shoe from the table and place it gently on the mat",
+    "Pick up the shoe made of rubber and leather from the table and set it on the mat",
+    "Pick the comfortable shoe for walking up from the table and put it on the mat",
+    "Use the right arm to grab the the wearable foot protector shoe and put it on the mat",
+    "Use the right arm to grab the medium-sized black and white shoe and transfer it to the mat",
+    "Lift the the shoe with curved sole from the table and place it onto the mat",
+    "Move the shoe with smooth top and grippy sole from the table to the mat",
+    "Pick up the dual-tone shoe with sleek design with the right arm, move it from the table, and set it on the mat",
+    "Grab the wearable foot protector shoe from the table and place it on the mat",
+    "Use the right arm to grab the the synthetic leather shoe from the table and set it on the mat",
+    "Move the shoe made of rubber and leather from the table to the mat in one fluid motion",
+    "Take the shoe with curved sole from the table and position it on the mat",
+    "Grab the shoe with curved sole using the right arm, move it from the table to the mat",
+    "Move the rubber-soled shoe with lace-up top from the table and place it down on the mat",
+    "Take the wearable foot protector shoe from the table and carefully drop it on the mat",
+    "Remove the black shoe with white accents from the table and lay it on the mat",
+    "Use the right arm to lift the comfortable shoe for walking from the table and set it on the mat",
+    "Retrieve the average adult-sized shoe from the table and set it on the mat",
+    "Lift the the wearable foot protector shoe from the table using the right arm and place it on the mat",
+    "Move the wearable foot protector shoe from the table to the mat",
+    "Lift the black and white shoe from the table and place it carefully on the mat",
+    "Use the right arm to pick the shoe with smooth top and grippy sole and position it on the mat",
+    "Use the right arm to pick up the shoe with curved sole from the table and drop it on the mat",
+    "Use the right arm to pick the wearable foot protector shoe off the table and move it onto the mat",
+    "Pick the black and white shoe up from the table and drop it directly on the mat",
+    "Using the right arm, lift the synthetic leather shoe from the table and place it onto the mat",
+    "Grab the black shoe with white accents from the table with the right arm and place it on the mat",
+    "With the right arm, grab the rubber-soled shoe with lace-up top off the table and place it onto the mat",
+    "Transfer the average adult-sized shoe from the table to the mat",
+    "With the right arm, pick the shoe with smooth top and grippy sole up from the table and put it on the mat"
+  ],
+  "unseen": [
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode50.json b/place_shoe/demo_clean/instructions/episode50.json
new file mode 100644
index 0000000000000000000000000000000000000000..78857ffc54094229de548836698eb04b54f303c3
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode50.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the synthetic leather white shoe from the table and position it on the mat",
+    "Lift the sleek white walking shoe and place it on the mat",
+    "Move the white and black combination shoe from the table to the mat",
+    "With the right arm, grab the white shoe from the table and place it on the mat",
+    "Pick the the white shoe with curved sole off the table and position it on the mat",
+    "Use the right arm to pick the medium-sized casual shoe off the table and move it onto the mat",
+    "Pick up the sleek white walking shoe with the right arm, move it from the table, and set it on the mat",
+    "Pick up the soft rubber-soled white shoe and move it to the mat",
+    "Move the medium-sized casual shoe from the table and place it down on the mat",
+    "Use the right arm to grab the white shoe with rounded toe and transfer it to the mat",
+    "Pick up the sleek white walking shoe from the table and set it on the mat",
+    "Lift the synthetic leather white shoe using the right arm from the table and place it on the mat",
+    "Take the synthetic leather white shoe from the table and put it on the mat",
+    "Pick the soft rubber-soled white shoe up from the table and put it on the mat",
+    "Lift the the synthetic leather white shoe from the table using the right arm and place it on the mat",
+    "Using the right arm, lift the synthetic leather white shoe from the table and place it onto the mat",
+    "Use the right arm to grab the the soft rubber-soled white shoe from the table and set it on the mat",
+    "Remove the white shoe with curved sole from the table and lay it on the mat",
+    "Grab the sleek white walking shoe using the right arm and drop it on the mat",
+    "Lift the white shoe from the table and place it carefully on the mat",
+    "With the right arm, grab the white shoe with rounded toe off the table and place it onto the mat",
+    "With the right arm, pick the white shoe up from the table and put it on the mat",
+    "Take the shoe with lace-up front from the table and place it on the mat",
+    "Take the medium-sized casual shoe with the right arm and place it carefully on the mat",
+    "Grab the the shoe with black heel patch on the table and move it to the mat",
+    "Using the right arm, grasp the shoe with black heel patch from the table and place it onto the mat",
+    "Pick up the white shoe with the right arm from the table and place it on the mat",
+    "Take the medium-sized casual shoe and put it on the mat",
+    "Grab the white shoe with curved sole using the right arm, move it from the table to the mat",
+    "Lift the soft rubber-soled white shoe off the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the the synthetic leather white shoe from the table and set it on the mat",
+    "Lift the shoe for everyday walking from the table and gently place it onto the mat",
+    "Use the right arm to pick up the synthetic leather white shoe from the table and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and move it to the mat",
+    "Move the shoe with lace-up front from the table to the mat in one fluid motion",
+    "Grab the soft rubber-soled white shoe from the table and place it on the mat",
+    "Pick the the sleek white walking shoe from the table and place it gently on the mat",
+    "Use the right arm to lift the medium-sized casual shoe from the table and set it on the mat",
+    "Take the the soft rubber-soled white shoe off the table and put it on the mat",
+    "Retrieve the white shoe from the table and set it on the mat",
+    "Use the right arm to grab the the white shoe with curved sole and put it on the mat",
+    "Take the white shoe with curved sole from the table and carefully drop it on the mat",
+    "Grab the shoe with black back detail from the table with the right arm and place it on the mat",
+    "Take the the shoe with black heel patch from the table using the right arm and drop it on the mat",
+    "Pick the medium-sized casual shoe up from the table and drop it directly on the mat",
+    "Use the right arm to pick the shoe with black heel patch and position it on the mat",
+    "Transfer the sleek white walking shoe from the table to the mat",
+    "Lift the the medium-sized casual shoe from the table and place it onto the mat",
+    "Use the right arm to lift the shoe with black heel patch from the table and set it on the mat",
+    "Move the shoe with lace-up front from the table to the mat",
+    "Take the shoe with black back detail from the table and position it on the mat",
+    "Lift the sleek white walking shoe and place it on the mat",
+    "Move the sleek white walking shoe from the table to the mat",
+    "With the right arm, grab the medium-sized casual shoe from the table and place it on the mat",
+    "Pick the the shoe with black heel patch off the table and position it on the mat",
+    "Use the right arm to pick the white shoe with curved sole off the table and move it onto the mat",
+    "Pick up the white shoe with curved sole with the right arm, move it from the table, and set it on the mat",
+    "Pick up the medium-sized casual shoe and move it to the mat",
+    "Move the sleek white walking shoe from the table and place it down on the mat",
+    "Use the right arm to grab the shoe with black heel patch and transfer it to the mat",
+    "Pick up the soft rubber-soled white shoe from the table and set it on the mat",
+    "Lift the white shoe using the right arm from the table and place it on the mat",
+    "Take the shoe with black heel patch from the table and put it on the mat",
+    "Pick the white shoe up from the table and put it on the mat",
+    "Lift the the shoe with black heel patch from the table using the right arm and place it on the mat",
+    "Using the right arm, lift the shoe with black back detail from the table and place it onto the mat",
+    "Use the right arm to grab the the shoe for everyday walking from the table and set it on the mat",
+    "Remove the sleek white walking shoe from the table and lay it on the mat",
+    "Grab the medium-sized casual shoe using the right arm and drop it on the mat",
+    "Lift the shoe with lace-up front from the table and place it carefully on the mat",
+    "With the right arm, grab the soft rubber-soled white shoe off the table and place it onto the mat",
+    "With the right arm, pick the white shoe with rounded toe up from the table and put it on the mat",
+    "Take the white shoe from the table and place it on the mat",
+    "Take the synthetic leather white shoe with the right arm and place it carefully on the mat",
+    "Grab the the shoe with lace-up front on the table and move it to the mat",
+    "Using the right arm, grasp the white and black combination shoe from the table and place it onto the mat",
+    "Pick up the shoe with black heel patch with the right arm from the table and place it on the mat",
+    "Take the shoe with black heel patch and put it on the mat",
+    "Grab the shoe for everyday walking using the right arm, move it from the table to the mat",
+    "Lift the soft rubber-soled white shoe off the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the the shoe with black back detail from the table and set it on the mat",
+    "Lift the shoe with lace-up front from the table and gently place it onto the mat",
+    "Use the right arm to pick up the white shoe with rounded toe from the table and drop it on the mat",
+    "Use the right arm to grab the shoe with black back detail from the table and move it to the mat",
+    "Move the soft rubber-soled white shoe from the table to the mat in one fluid motion",
+    "Grab the white shoe with curved sole from the table and place it on the mat",
+    "Pick the the shoe with black back detail from the table and place it gently on the mat",
+    "Use the right arm to lift the shoe with lace-up front from the table and set it on the mat",
+    "Take the the shoe with black heel patch off the table and put it on the mat",
+    "Retrieve the soft rubber-soled white shoe from the table and set it on the mat",
+    "Use the right arm to grab the the white shoe with rounded toe and put it on the mat",
+    "Take the synthetic leather white shoe from the table and carefully drop it on the mat",
+    "Grab the soft rubber-soled white shoe from the table with the right arm and place it on the mat",
+    "Take the the white shoe with rounded toe from the table using the right arm and drop it on the mat",
+    "Pick the sleek white walking shoe up from the table and drop it directly on the mat",
+    "Use the right arm to pick the shoe with black heel patch and position it on the mat",
+    "Transfer the white shoe with rounded toe from the table to the mat",
+    "Lift the the sleek white walking shoe from the table and place it onto the mat",
+    "Use the right arm to lift the soft rubber-soled white shoe from the table and set it on the mat",
+    "Move the soft rubber-soled white shoe from the table to the mat"
+  ],
+  "unseen": [
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode51.json b/place_shoe/demo_clean/instructions/episode51.json
new file mode 100644
index 0000000000000000000000000000000000000000..82b5d7009e55bc6c3f0a5b33df4980713341437d
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode51.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick the white shoe off the table and move it onto the mat",
+    "Pick the medium-sized casual shoe up from the table and put it on the mat",
+    "Take the shoe for everyday walking from the table and put it on the mat",
+    "Use the right arm to pick the shoe with lace-up front and position it on the mat",
+    "Take the shoe with lace-up front and put it on the mat",
+    "Pick up the synthetic leather white shoe with the right arm from the table and place it on the mat",
+    "Lift the shoe with lace-up front off the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the the shoe with black back detail from the table and set it on the mat",
+    "Lift the the soft rubber-soled white shoe from the table and place it onto the mat",
+    "Lift the shoe with black back detail from the table and gently place it onto the mat",
+    "Transfer the shoe with black heel patch from the table to the mat",
+    "Pick up the white shoe with curved sole and move it to the mat",
+    "Take the medium-sized casual shoe from the table and carefully drop it on the mat",
+    "Lift the shoe with lace-up front and place it on the mat",
+    "Take the the white shoe with rounded toe off the table and put it on the mat",
+    "With the right arm, grab the sleek white walking shoe from the table and place it on the mat",
+    "Move the shoe with black back detail from the table to the mat in one fluid motion",
+    "Use the right arm to lift the shoe with black heel patch from the table and set it on the mat",
+    "Take the soft rubber-soled white shoe from the table and place it on the mat",
+    "Using the right arm, grasp the shoe for everyday walking from the table and place it onto the mat",
+    "Take the the white shoe from the table using the right arm and drop it on the mat",
+    "Pick the shoe with black back detail up from the table and drop it directly on the mat",
+    "Move the shoe with black heel patch from the table to the mat",
+    "Grab the sleek white walking shoe from the table with the right arm and place it on the mat",
+    "Lift the synthetic leather white shoe from the table and place it carefully on the mat",
+    "Take the shoe with black back detail with the right arm and place it carefully on the mat",
+    "Use the right arm to grab the shoe with black back detail from the table and move it to the mat",
+    "Use the right arm to grab the the shoe with black heel patch and put it on the mat",
+    "Pick the the medium-sized casual shoe from the table and place it gently on the mat",
+    "Pick up the sleek white walking shoe with the right arm, move it from the table, and set it on the mat",
+    "Lift the the shoe with black back detail from the table using the right arm and place it on the mat",
+    "Lift the sleek white walking shoe using the right arm from the table and place it on the mat",
+    "Move the shoe with black heel patch from the table and place it down on the mat",
+    "Pick the the white shoe with rounded toe off the table and position it on the mat",
+    "Use the right arm to pick up the sleek white walking shoe from the table and drop it on the mat",
+    "Remove the white and black combination shoe from the table and lay it on the mat",
+    "With the right arm, grab the shoe with black heel patch off the table and place it onto the mat",
+    "Retrieve the shoe for everyday walking from the table and set it on the mat",
+    "Use the right arm to grab the synthetic leather white shoe and transfer it to the mat",
+    "Grab the the synthetic leather white shoe on the table and move it to the mat",
+    "Pick up the white and black combination shoe from the table and set it on the mat",
+    "Grab the sleek white walking shoe from the table and place it on the mat",
+    "Move the white and black combination shoe from the table to the mat",
+    "Take the shoe for everyday walking from the table and position it on the mat",
+    "Use the right arm to lift the medium-sized casual shoe from the table and set it on the mat",
+    "With the right arm, pick the shoe with lace-up front up from the table and put it on the mat",
+    "Grab the white shoe using the right arm and drop it on the mat",
+    "Use the right arm to grab the the synthetic leather white shoe from the table and set it on the mat",
+    "Grab the shoe with black back detail using the right arm, move it from the table to the mat",
+    "Using the right arm, lift the shoe with black heel patch from the table and place it onto the mat",
+    "Use the right arm to pick the medium-sized casual shoe off the table and move it onto the mat",
+    "Pick the white shoe up from the table and put it on the mat",
+    "Take the white shoe from the table and put it on the mat",
+    "Use the right arm to pick the soft rubber-soled white shoe and position it on the mat",
+    "Take the medium-sized casual shoe and put it on the mat",
+    "Pick up the white shoe with the right arm from the table and place it on the mat",
+    "Lift the soft rubber-soled white shoe off the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the the white shoe from the table and set it on the mat",
+    "Lift the the white shoe with curved sole from the table and place it onto the mat",
+    "Lift the shoe for everyday walking from the table and gently place it onto the mat",
+    "Transfer the shoe with black back detail from the table to the mat",
+    "Pick up the white shoe with curved sole and move it to the mat",
+    "Take the white shoe with rounded toe from the table and carefully drop it on the mat",
+    "Lift the shoe with black heel patch and place it on the mat",
+    "Take the the shoe with black heel patch off the table and put it on the mat",
+    "With the right arm, grab the white shoe from the table and place it on the mat",
+    "Move the synthetic leather white shoe from the table to the mat in one fluid motion",
+    "Use the right arm to lift the synthetic leather white shoe from the table and set it on the mat",
+    "Take the white and black combination shoe from the table and place it on the mat",
+    "Using the right arm, grasp the shoe with lace-up front from the table and place it onto the mat",
+    "Take the the soft rubber-soled white shoe from the table using the right arm and drop it on the mat",
+    "Pick the synthetic leather white shoe up from the table and drop it directly on the mat",
+    "Move the white shoe with curved sole from the table to the mat",
+    "Grab the medium-sized casual shoe from the table with the right arm and place it on the mat",
+    "Lift the white and black combination shoe from the table and place it carefully on the mat",
+    "Take the medium-sized casual shoe with the right arm and place it carefully on the mat",
+    "Use the right arm to grab the white shoe with rounded toe from the table and move it to the mat",
+    "Use the right arm to grab the the white shoe with curved sole and put it on the mat",
+    "Pick the the sleek white walking shoe from the table and place it gently on the mat",
+    "Pick up the shoe with black heel patch with the right arm, move it from the table, and set it on the mat",
+    "Lift the the white shoe from the table using the right arm and place it on the mat",
+    "Lift the shoe for everyday walking using the right arm from the table and place it on the mat",
+    "Move the shoe with black heel patch from the table and place it down on the mat",
+    "Pick the the white shoe with curved sole off the table and position it on the mat",
+    "Use the right arm to pick up the soft rubber-soled white shoe from the table and drop it on the mat",
+    "Remove the white shoe from the table and lay it on the mat",
+    "With the right arm, grab the white shoe with rounded toe off the table and place it onto the mat",
+    "Retrieve the shoe with black back detail from the table and set it on the mat",
+    "Use the right arm to grab the white shoe with curved sole and transfer it to the mat",
+    "Grab the the sleek white walking shoe on the table and move it to the mat",
+    "Pick up the shoe with black heel patch from the table and set it on the mat",
+    "Grab the shoe with black heel patch from the table and place it on the mat",
+    "Move the synthetic leather white shoe from the table to the mat",
+    "Take the shoe with black back detail from the table and position it on the mat",
+    "Use the right arm to lift the shoe for everyday walking from the table and set it on the mat",
+    "With the right arm, pick the white shoe up from the table and put it on the mat",
+    "Grab the synthetic leather white shoe using the right arm and drop it on the mat",
+    "Use the right arm to grab the the sleek white walking shoe from the table and set it on the mat",
+    "Grab the sleek white walking shoe using the right arm, move it from the table to the mat",
+    "Using the right arm, lift the white shoe with rounded toe from the table and place it onto the mat"
+  ],
+  "unseen": [
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode52.json b/place_shoe/demo_clean/instructions/episode52.json
new file mode 100644
index 0000000000000000000000000000000000000000..579aaef936e325d28d083dfbb784327ea7db87a0
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode52.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the rubber sole shoe using the right arm, move it from the table to the mat",
+    "With the right arm, grab the shoe with lace holes from the table and place it on the mat",
+    "Pick the the rubber sole shoe off the table and position it on the mat",
+    "Lift the white sneaker shoe using the right arm from the table and place it on the mat",
+    "Use the right arm to pick the shoe with curved sole and position it on the mat",
+    "Pick up the medium-sized rounded white shoe with the right arm from the table and place it on the mat",
+    "Use the right arm to grab the smooth white shoe and transfer it to the mat",
+    "Lift the white shoe with rubber sole from the table and place it carefully on the mat",
+    "Pick the smooth white shoe up from the table and put it on the mat",
+    "Pick up the shoe with textured sole and move it to the mat",
+    "Lift the the shoe with textured sole from the table using the right arm and place it on the mat",
+    "Move the medium white shoe from the table and place it down on the mat",
+    "Transfer the synthetic leather shoe from the table to the mat",
+    "Take the shoe with patterned bottom with the right arm and place it carefully on the mat",
+    "Take the shoe with textured sole from the table and position it on the mat",
+    "Grab the medium white shoe using the right arm and drop it on the mat",
+    "Move the shoe with lace holes from the table to the mat",
+    "Pick up the rubber sole shoe with the right arm, move it from the table, and set it on the mat",
+    "Lift the medium white shoe from the table and gently place it onto the mat",
+    "Lift the shoe with textured sole off the table using the right arm and drop it on the mat",
+    "Use the right arm to pick the medium-sized rounded white shoe off the table and move it onto the mat",
+    "With the right arm, pick the white sneaker shoe up from the table and put it on the mat",
+    "Take the shoe with lace holes and put it on the mat",
+    "With the right arm, grab the medium white shoe off the table and place it onto the mat",
+    "Use the right arm to grab the the smooth white shoe from the table and set it on the mat",
+    "Grab the shoe with textured sole from the table with the right arm and place it on the mat",
+    "Pick the medium white shoe up from the table and drop it directly on the mat",
+    "Using the right arm, grasp the medium white shoe from the table and place it onto the mat",
+    "Pick the the shoe with lace holes from the table and place it gently on the mat",
+    "Use the right arm to pick up the shoe with curved sole from the table and drop it on the mat",
+    "Move the white sneaker shoe from the table to the mat",
+    "Take the the shoe with textured sole from the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the medium white shoe from the table and set it on the mat",
+    "Lift the the synthetic leather shoe from the table and place it onto the mat",
+    "Take the the shoe for walking off the table and put it on the mat",
+    "Move the shoe with lace holes from the table to the mat in one fluid motion",
+    "Use the right arm to grab the the smooth white shoe and put it on the mat",
+    "Take the medium white shoe from the table and carefully drop it on the mat",
+    "Retrieve the white sneaker shoe from the table and set it on the mat",
+    "Use the right arm to grab the rubber sole shoe from the table and move it to the mat",
+    "Use the right arm to lift the the shoe with curved sole from the table and set it on the mat",
+    "Use the right arm to lift the synthetic leather shoe from the table and set it on the mat",
+    "Using the right arm, lift the medium-sized rounded white shoe from the table and place it onto the mat",
+    "Lift the white sneaker shoe and place it on the mat",
+    "Take the shoe with patterned bottom from the table and place it on the mat",
+    "Grab the white shoe with rubber sole from the table and place it on the mat",
+    "Grab the the smooth white shoe on the table and move it to the mat",
+    "Pick up the shoe with patterned bottom from the table and set it on the mat",
+    "Remove the smooth white shoe from the table and lay it on the mat",
+    "Take the rubber sole shoe from the table and put it on the mat",
+    "Grab the white shoe with rubber sole using the right arm, move it from the table to the mat",
+    "With the right arm, grab the medium-sized rounded white shoe from the table and place it on the mat",
+    "Pick the the medium-sized rounded white shoe off the table and position it on the mat",
+    "Lift the shoe with textured sole using the right arm from the table and place it on the mat",
+    "Use the right arm to pick the white sneaker shoe and position it on the mat",
+    "Pick up the synthetic leather shoe with the right arm from the table and place it on the mat",
+    "Use the right arm to grab the shoe with lace holes and transfer it to the mat",
+    "Lift the medium-sized rounded white shoe from the table and place it carefully on the mat",
+    "Pick the smooth white shoe up from the table and put it on the mat",
+    "Pick up the shoe with curved sole and move it to the mat",
+    "Lift the the white shoe with rubber sole from the table using the right arm and place it on the mat",
+    "Move the shoe for walking from the table and place it down on the mat",
+    "Transfer the shoe with patterned bottom from the table to the mat",
+    "Take the shoe for walking with the right arm and place it carefully on the mat",
+    "Take the shoe with curved sole from the table and position it on the mat",
+    "Grab the medium-sized rounded white shoe using the right arm and drop it on the mat",
+    "Move the smooth white shoe from the table to the mat",
+    "Pick up the synthetic leather shoe with the right arm, move it from the table, and set it on the mat",
+    "Lift the medium white shoe from the table and gently place it onto the mat",
+    "Lift the white shoe with rubber sole off the table using the right arm and drop it on the mat",
+    "Use the right arm to pick the smooth white shoe off the table and move it onto the mat",
+    "With the right arm, pick the shoe with patterned bottom up from the table and put it on the mat",
+    "Take the white sneaker shoe and put it on the mat",
+    "With the right arm, grab the synthetic leather shoe off the table and place it onto the mat",
+    "Use the right arm to grab the the medium-sized rounded white shoe from the table and set it on the mat",
+    "Grab the shoe with curved sole from the table with the right arm and place it on the mat",
+    "Pick the white sneaker shoe up from the table and drop it directly on the mat",
+    "Using the right arm, grasp the synthetic leather shoe from the table and place it onto the mat",
+    "Pick the the shoe for walking from the table and place it gently on the mat",
+    "Use the right arm to pick up the shoe with lace holes from the table and drop it on the mat",
+    "Move the rubber sole shoe from the table to the mat",
+    "Take the the shoe with textured sole from the table using the right arm and drop it on the mat",
+    "Use the right arm to lift the shoe with curved sole from the table and set it on the mat",
+    "Lift the the synthetic leather shoe from the table and place it onto the mat",
+    "Take the the shoe for walking off the table and put it on the mat",
+    "Move the synthetic leather shoe from the table to the mat in one fluid motion",
+    "Use the right arm to grab the the shoe for walking and put it on the mat",
+    "Take the shoe with patterned bottom from the table and carefully drop it on the mat",
+    "Retrieve the medium white shoe from the table and set it on the mat",
+    "Use the right arm to grab the rubber sole shoe from the table and move it to the mat",
+    "Use the right arm to lift the the shoe with patterned bottom from the table and set it on the mat",
+    "Use the right arm to lift the medium-sized rounded white shoe from the table and set it on the mat",
+    "Using the right arm, lift the shoe with textured sole from the table and place it onto the mat",
+    "Lift the rubber sole shoe and place it on the mat",
+    "Take the shoe with textured sole from the table and place it on the mat",
+    "Grab the medium-sized rounded white shoe from the table and place it on the mat",
+    "Grab the the white shoe with rubber sole on the table and move it to the mat",
+    "Pick up the shoe with lace holes from the table and set it on the mat",
+    "Remove the shoe with curved sole from the table and lay it on the mat",
+    "Take the medium white shoe from the table and put it on the mat"
+  ],
+  "unseen": [
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode53.json b/place_shoe/demo_clean/instructions/episode53.json
new file mode 100644
index 0000000000000000000000000000000000000000..9921a74d5df36291a1a99206e8ef7cc6ed85f720
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode53.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift the medium-sized rounded white shoe from the table and set it on the mat",
+    "Pick up the shoe for walking with the right arm from the table and place it on the mat",
+    "Transfer the synthetic leather shoe from the table to the mat",
+    "Lift the medium white shoe using the right arm from the table and place it on the mat",
+    "Lift the shoe with textured sole and place it on the mat",
+    "Pick the the shoe with patterned bottom off the table and position it on the mat",
+    "Pick up the white sneaker shoe with the right arm, move it from the table, and set it on the mat",
+    "Take the the shoe with patterned bottom from the table using the right arm and drop it on the mat",
+    "Grab the shoe with curved sole from the table with the right arm and place it on the mat",
+    "Use the right arm to grab the the smooth white shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe with textured sole from the table and set it on the mat",
+    "Take the shoe with textured sole from the table and put it on the mat",
+    "Move the shoe with curved sole from the table to the mat in one fluid motion",
+    "Lift the synthetic leather shoe from the table and place it carefully on the mat",
+    "Move the shoe with textured sole from the table to the mat",
+    "Pick the shoe with curved sole up from the table and drop it directly on the mat",
+    "Lift the the white shoe with rubber sole from the table using the right arm and place it on the mat",
+    "Lift the medium white shoe off the table using the right arm and drop it on the mat",
+    "Pick up the medium white shoe and move it to the mat",
+    "Pick the medium-sized rounded white shoe up from the table and put it on the mat",
+    "Grab the synthetic leather shoe from the table and place it on the mat",
+    "Pick up the white sneaker shoe from the table and set it on the mat",
+    "Take the shoe with textured sole with the right arm and place it carefully on the mat",
+    "Use the right arm to pick the shoe with lace holes and position it on the mat",
+    "Lift the medium-sized rounded white shoe from the table and gently place it onto the mat",
+    "Take the the smooth white shoe off the table and put it on the mat",
+    "Use the right arm to pick the shoe with lace holes off the table and move it onto the mat",
+    "Grab the rubber sole shoe using the right arm, move it from the table to the mat",
+    "Move the medium white shoe from the table and place it down on the mat",
+    "Use the right arm to grab the the shoe with textured sole and put it on the mat",
+    "Use the right arm to lift the the shoe for walking from the table and set it on the mat",
+    "Use the right arm to grab the shoe for walking from the table and move it to the mat",
+    "Grab the the shoe with curved sole on the table and move it to the mat",
+    "With the right arm, grab the shoe with lace holes from the table and place it on the mat",
+    "Take the synthetic leather shoe from the table and carefully drop it on the mat",
+    "Use the right arm to pick up the smooth white shoe from the table and drop it on the mat",
+    "Lift the the medium white shoe from the table and place it onto the mat",
+    "Take the shoe for walking from the table and position it on the mat",
+    "Using the right arm, lift the shoe for walking from the table and place it onto the mat",
+    "Using the right arm, grasp the shoe with curved sole from the table and place it onto the mat",
+    "Use the right arm to grab the shoe with curved sole and transfer it to the mat",
+    "Retrieve the white shoe with rubber sole from the table and set it on the mat",
+    "Take the white sneaker shoe from the table and place it on the mat",
+    "With the right arm, pick the shoe with lace holes up from the table and put it on the mat",
+    "With the right arm, grab the shoe with curved sole off the table and place it onto the mat",
+    "Remove the rubber sole shoe from the table and lay it on the mat",
+    "Grab the shoe for walking using the right arm and drop it on the mat",
+    "Take the medium-sized rounded white shoe and put it on the mat",
+    "Pick the the shoe with lace holes from the table and place it gently on the mat",
+    "Move the rubber sole shoe from the table to the mat",
+    "Use the right arm to lift the shoe with textured sole from the table and set it on the mat",
+    "Pick up the shoe with textured sole with the right arm from the table and place it on the mat",
+    "Transfer the shoe with curved sole from the table to the mat",
+    "Lift the shoe with lace holes using the right arm from the table and place it on the mat",
+    "Lift the white shoe with rubber sole and place it on the mat",
+    "Pick the the white shoe with rubber sole off the table and position it on the mat",
+    "Pick up the medium white shoe with the right arm, move it from the table, and set it on the mat",
+    "Take the the rubber sole shoe from the table using the right arm and drop it on the mat",
+    "Grab the shoe with patterned bottom from the table with the right arm and place it on the mat",
+    "Use the right arm to grab the the rubber sole shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe with curved sole from the table and set it on the mat",
+    "Take the white shoe with rubber sole from the table and put it on the mat",
+    "Move the synthetic leather shoe from the table to the mat in one fluid motion",
+    "Lift the shoe with textured sole from the table and place it carefully on the mat",
+    "Move the shoe with textured sole from the table to the mat",
+    "Pick the synthetic leather shoe up from the table and drop it directly on the mat",
+    "Lift the the shoe with patterned bottom from the table using the right arm and place it on the mat",
+    "Lift the smooth white shoe off the table using the right arm and drop it on the mat",
+    "Pick up the synthetic leather shoe and move it to the mat",
+    "Pick the synthetic leather shoe up from the table and put it on the mat",
+    "Grab the medium-sized rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe with rubber sole from the table and set it on the mat",
+    "Take the shoe with patterned bottom with the right arm and place it carefully on the mat",
+    "Use the right arm to pick the shoe with textured sole and position it on the mat",
+    "Lift the shoe with lace holes from the table and gently place it onto the mat",
+    "Take the the smooth white shoe off the table and put it on the mat",
+    "Use the right arm to pick the shoe with textured sole off the table and move it onto the mat",
+    "Grab the shoe with curved sole using the right arm, move it from the table to the mat",
+    "Move the white shoe with rubber sole from the table and place it down on the mat",
+    "Use the right arm to grab the the white shoe with rubber sole and put it on the mat",
+    "Use the right arm to lift the the white sneaker shoe from the table and set it on the mat",
+    "Use the right arm to grab the medium white shoe from the table and move it to the mat",
+    "Grab the the medium-sized rounded white shoe on the table and move it to the mat",
+    "With the right arm, grab the white shoe with rubber sole from the table and place it on the mat",
+    "Take the medium-sized rounded white shoe from the table and carefully drop it on the mat",
+    "Use the right arm to pick up the shoe with textured sole from the table and drop it on the mat",
+    "Lift the the white sneaker shoe from the table and place it onto the mat",
+    "Take the white sneaker shoe from the table and position it on the mat",
+    "Using the right arm, lift the shoe with curved sole from the table and place it onto the mat",
+    "Using the right arm, grasp the rubber sole shoe from the table and place it onto the mat",
+    "Use the right arm to grab the medium-sized rounded white shoe and transfer it to the mat",
+    "Retrieve the shoe for walking from the table and set it on the mat",
+    "Take the shoe with lace holes from the table and place it on the mat",
+    "With the right arm, pick the medium-sized rounded white shoe up from the table and put it on the mat",
+    "With the right arm, grab the white shoe with rubber sole off the table and place it onto the mat",
+    "Remove the white sneaker shoe from the table and lay it on the mat",
+    "Grab the rubber sole shoe using the right arm and drop it on the mat",
+    "Take the rubber sole shoe and put it on the mat",
+    "Pick the the white shoe with rubber sole from the table and place it gently on the mat",
+    "Move the smooth white shoe from the table to the mat"
+  ],
+  "unseen": [
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode54.json b/place_shoe/demo_clean/instructions/episode54.json
new file mode 100644
index 0000000000000000000000000000000000000000..44ead376a97b41f7b25ecf7655c6257028dd42ac
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode54.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the light brown shoe with white sole from the table with the left arm and place it on the mat",
+    "Pick up the shoe with colorful stripes with the left arm, move it from the table, and set it on the mat",
+    "Lift the shoe with red green white pattern and place it on the mat",
+    "Grab the medium-sized brown shoe using the left arm, move it from the table to the mat",
+    "Take the the light brown shoe from the table using the left arm and drop it on the mat",
+    "Pick up the shoe with rounded and open form from the table and set it on the mat",
+    "Retrieve the light brown shoe with white sole from the table and set it on the mat",
+    "Take the brown shoe with strap loops from the table and carefully drop it on the mat",
+    "Use the left arm to lift the medium-sized brown shoe from the table and set it on the mat",
+    "Lift the shoe with open straps from the table and place it carefully on the mat",
+    "Use the left arm to lift the light brown shoe with white sole from the table and set it on the mat",
+    "Take the small brown footwear replica from the table and put it on the mat",
+    "Use the left arm to pick the shoe with red green white pattern and position it on the mat",
+    "Pick up the brown shoe with strap loops with the left arm from the table and place it on the mat",
+    "Grab the shoe with open straps using the left arm and drop it on the mat",
+    "Use the left arm to grab the the shoe with red green white pattern from the table and set it on the mat",
+    "Lift the shoe with open straps off the table using the left arm and drop it on the mat",
+    "With the left arm, grab the light brown shoe from the table and place it on the mat",
+    "Grab the medium-sized brown shoe from the table and place it on the mat",
+    "With the left arm, pick the shoe with textured bottom up from the table and put it on the mat",
+    "Move the medium-sized brown shoe from the table and place it down on the mat",
+    "Take the medium-sized brown shoe from the table and position it on the mat",
+    "Pick the the shoe with textured bottom off the table and position it on the mat",
+    "Use the left arm to lift the the shoe with textured bottom from the table and set it on the mat",
+    "Use the left arm to pick the shoe with rounded and open form off the table and move it onto the mat",
+    "Lift the shoe with textured bottom using the left arm from the table and place it on the mat",
+    "Transfer the brown shoe with strap loops from the table to the mat",
+    "Pick the shoe with textured bottom up from the table and drop it directly on the mat",
+    "Lift the the shoe with textured bottom from the table and place it onto the mat",
+    "With the left arm, grab the shoe with open straps off the table and place it onto the mat",
+    "Grab the the rounded shoe with visible straps on the table and move it to the mat",
+    "Use the left arm to grab the shoe with red green white pattern from the table and move it to the mat",
+    "Using the left arm, grasp the light brown shoe from the table and place it onto the mat",
+    "Pick the the small brown footwear replica from the table and place it gently on the mat",
+    "Move the shoe with open straps from the table to the mat in one fluid motion",
+    "Move the medium-sized brown shoe from the table to the mat",
+    "Move the light brown shoe with white sole from the table to the mat",
+    "Use the left arm to grab the light brown shoe with white sole and transfer it to the mat",
+    "Remove the plastic brown shoe from the table and lay it on the mat",
+    "Take the the light brown shoe off the table and put it on the mat",
+    "Using the left arm, lift the medium-sized brown shoe from the table and place it onto the mat",
+    "Take the light brown shoe and put it on the mat",
+    "Use the left arm to pick up the rounded shoe with visible straps from the table and drop it on the mat",
+    "Take the shoe with colorful stripes from the table and place it on the mat",
+    "Pick up the light brown shoe with white sole and move it to the mat",
+    "Use the left arm to grab the the plastic brown shoe and put it on the mat",
+    "Lift the small brown footwear replica from the table and gently place it onto the mat",
+    "Pick the medium-sized brown shoe up from the table and put it on the mat",
+    "Lift the the shoe with colorful stripes from the table using the left arm and place it on the mat",
+    "Take the shoe with colorful stripes with the left arm and place it carefully on the mat",
+    "Grab the brown shoe with strap loops from the table with the left arm and place it on the mat",
+    "Pick up the medium-sized brown shoe with the left arm, move it from the table, and set it on the mat",
+    "Lift the shoe with textured bottom and place it on the mat",
+    "Grab the light brown shoe using the left arm, move it from the table to the mat",
+    "Take the the medium-sized brown shoe from the table using the left arm and drop it on the mat",
+    "Pick up the rounded shoe with visible straps from the table and set it on the mat",
+    "Retrieve the plastic brown shoe from the table and set it on the mat",
+    "Take the shoe with red green white pattern from the table and carefully drop it on the mat",
+    "Use the left arm to lift the shoe with rounded and open form from the table and set it on the mat",
+    "Lift the light brown shoe with white sole from the table and place it carefully on the mat",
+    "Use the left arm to lift the shoe with colorful stripes from the table and set it on the mat",
+    "Take the shoe with open straps from the table and put it on the mat",
+    "Use the left arm to pick the light brown shoe with white sole and position it on the mat",
+    "Pick up the medium-sized brown shoe with the left arm from the table and place it on the mat",
+    "Grab the rounded shoe with visible straps using the left arm and drop it on the mat",
+    "Use the left arm to grab the the shoe with open straps from the table and set it on the mat",
+    "Lift the shoe with colorful stripes off the table using the left arm and drop it on the mat",
+    "With the left arm, grab the light brown shoe from the table and place it on the mat",
+    "Grab the light brown shoe with white sole from the table and place it on the mat",
+    "With the left arm, pick the shoe with red green white pattern up from the table and put it on the mat",
+    "Move the shoe with textured bottom from the table and place it down on the mat",
+    "Take the medium-sized brown shoe from the table and position it on the mat",
+    "Pick the the shoe with open straps off the table and position it on the mat",
+    "Use the left arm to lift the the shoe with rounded and open form from the table and set it on the mat",
+    "Use the left arm to pick the shoe with red green white pattern off the table and move it onto the mat",
+    "Lift the shoe with colorful stripes using the left arm from the table and place it on the mat",
+    "Transfer the shoe with red green white pattern from the table to the mat",
+    "Pick the medium-sized brown shoe up from the table and drop it directly on the mat",
+    "Lift the the plastic brown shoe from the table and place it onto the mat",
+    "With the left arm, grab the shoe with open straps off the table and place it onto the mat",
+    "Grab the the plastic brown shoe on the table and move it to the mat",
+    "Use the left arm to grab the rounded shoe with visible straps from the table and move it to the mat",
+    "Using the left arm, grasp the rounded shoe with visible straps from the table and place it onto the mat",
+    "Pick the the shoe with open straps from the table and place it gently on the mat",
+    "Move the shoe with red green white pattern from the table to the mat in one fluid motion",
+    "Move the brown shoe with strap loops from the table to the mat",
+    "Move the brown shoe with strap loops from the table to the mat",
+    "Use the left arm to grab the plastic brown shoe and transfer it to the mat",
+    "Remove the shoe with textured bottom from the table and lay it on the mat",
+    "Take the the shoe with rounded and open form off the table and put it on the mat",
+    "Using the left arm, lift the medium-sized brown shoe from the table and place it onto the mat",
+    "Take the medium-sized brown shoe and put it on the mat",
+    "Use the left arm to pick up the small brown footwear replica from the table and drop it on the mat",
+    "Take the rounded shoe with visible straps from the table and place it on the mat",
+    "Pick up the medium-sized brown shoe and move it to the mat",
+    "Use the left arm to grab the the rounded shoe with visible straps and put it on the mat",
+    "Lift the light brown shoe with white sole from the table and gently place it onto the mat",
+    "Pick the rounded shoe with visible straps up from the table and put it on the mat",
+    "Lift the the light brown shoe from the table using the left arm and place it on the mat",
+    "Take the light brown shoe with the left arm and place it carefully on the mat"
+  ],
+  "unseen": [
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the left arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the left arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the left arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the left arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Use the left arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the left arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the left arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the left arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the left arm to lift the smooth plastic shoe and drop it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the left arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the left arm to lift the smooth plastic shoe and drop it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the left arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the left arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Use the left arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the left arm to lift the shoe model with ribbed sole and drop it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode55.json b/place_shoe/demo_clean/instructions/episode55.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f606966a07c1a9e43fde3adb5a589f4b6de0e67
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode55.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the white shoe with flat sole off the table using the left arm and drop it on the mat",
+    "Using the left arm, lift the rubber sole shoe from the table and place it onto the mat",
+    "Take the white sneaker with red accents from the table and position it on the mat",
+    "Pick the white shoe with red tag up from the table and put it on the mat",
+    "Retrieve the lace-up canvas shoe from the table and set it on the mat",
+    "Pick the classic sneaker design shoe up from the table and drop it directly on the mat",
+    "Lift the classic sneaker design shoe using the left arm from the table and place it on the mat",
+    "Lift the medium-sized adult shoe from the table and place it carefully on the mat",
+    "With the left arm, pick the rounded front shoe up from the table and put it on the mat",
+    "Take the the rubber sole shoe off the table and put it on the mat",
+    "Pick the the white shoe with flat sole off the table and position it on the mat",
+    "With the left arm, grab the rubber sole shoe off the table and place it onto the mat",
+    "Remove the canvas shoe with grooved sole from the table and lay it on the mat",
+    "Lift the classic sneaker design shoe and place it on the mat",
+    "Use the left arm to lift the rubber sole shoe from the table and set it on the mat",
+    "Use the left arm to pick the shoe with flat rubber sole off the table and move it onto the mat",
+    "Pick up the comfortable white and red shoe with the left arm, move it from the table, and set it on the mat",
+    "Grab the the classic sneaker design shoe on the table and move it to the mat",
+    "Use the left arm to lift the the comfortable white and red shoe from the table and set it on the mat",
+    "Pick up the rounded front shoe and move it to the mat",
+    "With the left arm, grab the rubber sole shoe from the table and place it on the mat",
+    "Move the rubber sole shoe from the table to the mat in one fluid motion",
+    "Using the left arm, grasp the shoe with flat rubber sole from the table and place it onto the mat",
+    "Take the canvas shoe with grooved sole from the table and place it on the mat",
+    "Take the the classic sneaker design shoe from the table using the left arm and drop it on the mat",
+    "Pick the the classic sneaker design shoe from the table and place it gently on the mat",
+    "Use the left arm to grab the the classic sneaker design shoe from the table and set it on the mat",
+    "Take the rounded front shoe with the left arm and place it carefully on the mat",
+    "Grab the medium-sized adult shoe using the left arm and drop it on the mat",
+    "Pick up the medium-sized adult shoe with the left arm from the table and place it on the mat",
+    "Use the left arm to pick the white shoe with flat sole and position it on the mat",
+    "Move the medium-sized adult shoe from the table and place it down on the mat",
+    "Take the white shoe with red tag and put it on the mat",
+    "Transfer the lace-up canvas shoe from the table to the mat",
+    "Grab the shoe with flat rubber sole from the table and place it on the mat",
+    "Move the comfortable white and red shoe from the table to the mat",
+    "Take the lace-up sneaker from the table and carefully drop it on the mat",
+    "Use the left arm to grab the lace-up sneaker and transfer it to the mat",
+    "Grab the medium-sized adult shoe using the left arm, move it from the table to the mat",
+    "Grab the classic sneaker design shoe from the table with the left arm and place it on the mat",
+    "Use the left arm to pick up the lace-up sneaker from the table and drop it on the mat",
+    "Take the canvas shoe with grooved sole from the table and put it on the mat",
+    "Lift the the white shoe with flat sole from the table and place it onto the mat",
+    "Use the left arm to lift the white shoe with red tag from the table and set it on the mat",
+    "Pick up the white shoe with flat sole from the table and set it on the mat",
+    "Use the left arm to grab the rubber sole shoe from the table and move it to the mat",
+    "Move the rubber sole shoe from the table to the mat",
+    "Use the left arm to grab the the classic sneaker design shoe and put it on the mat",
+    "Lift the the medium-sized adult shoe from the table using the left arm and place it on the mat",
+    "Lift the lace-up canvas shoe from the table and gently place it onto the mat",
+    "Lift the comfortable white and red shoe off the table using the left arm and drop it on the mat",
+    "Using the left arm, lift the rubber sole shoe from the table and place it onto the mat",
+    "Take the lace-up canvas shoe from the table and position it on the mat",
+    "Pick the medium-sized adult shoe up from the table and put it on the mat",
+    "Retrieve the medium-sized adult shoe from the table and set it on the mat",
+    "Pick the canvas shoe with grooved sole up from the table and drop it directly on the mat",
+    "Lift the rubber sole shoe using the left arm from the table and place it on the mat",
+    "Lift the white shoe with flat sole from the table and place it carefully on the mat",
+    "With the left arm, pick the white shoe with flat sole up from the table and put it on the mat",
+    "Take the the white shoe with flat sole off the table and put it on the mat",
+    "Pick the the lace-up canvas shoe off the table and position it on the mat",
+    "With the left arm, grab the shoe with flat rubber sole off the table and place it onto the mat",
+    "Remove the comfortable white and red shoe from the table and lay it on the mat",
+    "Lift the medium-sized adult shoe and place it on the mat",
+    "Use the left arm to lift the white shoe with flat sole from the table and set it on the mat",
+    "Use the left arm to pick the shoe with flat rubber sole off the table and move it onto the mat",
+    "Pick up the rubber sole shoe with the left arm, move it from the table, and set it on the mat",
+    "Grab the the rounded front shoe on the table and move it to the mat",
+    "Use the left arm to lift the the rubber sole shoe from the table and set it on the mat",
+    "Pick up the white shoe with flat sole and move it to the mat",
+    "With the left arm, grab the medium-sized adult shoe from the table and place it on the mat",
+    "Move the canvas shoe with grooved sole from the table to the mat in one fluid motion",
+    "Using the left arm, grasp the canvas shoe with grooved sole from the table and place it onto the mat",
+    "Take the canvas shoe with grooved sole from the table and place it on the mat",
+    "Take the the white shoe with red tag from the table using the left arm and drop it on the mat",
+    "Pick the the white shoe with red tag from the table and place it gently on the mat",
+    "Use the left arm to grab the the rounded front shoe from the table and set it on the mat",
+    "Take the comfortable white and red shoe with the left arm and place it carefully on the mat",
+    "Grab the comfortable white and red shoe using the left arm and drop it on the mat",
+    "Pick up the lace-up sneaker with the left arm from the table and place it on the mat",
+    "Use the left arm to pick the canvas shoe with grooved sole and position it on the mat",
+    "Move the shoe with flat rubber sole from the table and place it down on the mat",
+    "Take the lace-up canvas shoe and put it on the mat",
+    "Transfer the shoe with flat rubber sole from the table to the mat",
+    "Grab the rounded front shoe from the table and place it on the mat",
+    "Move the white shoe with red tag from the table to the mat",
+    "Take the rubber sole shoe from the table and carefully drop it on the mat",
+    "Use the left arm to grab the medium-sized adult shoe and transfer it to the mat",
+    "Grab the classic sneaker design shoe using the left arm, move it from the table to the mat",
+    "Grab the white shoe with red tag from the table with the left arm and place it on the mat",
+    "Use the left arm to pick up the comfortable white and red shoe from the table and drop it on the mat",
+    "Take the lace-up canvas shoe from the table and put it on the mat",
+    "Lift the the lace-up canvas shoe from the table and place it onto the mat",
+    "Use the left arm to lift the medium-sized adult shoe from the table and set it on the mat",
+    "Pick up the shoe with flat rubber sole from the table and set it on the mat",
+    "Use the left arm to grab the canvas shoe with grooved sole from the table and move it to the mat",
+    "Move the canvas shoe with grooved sole from the table to the mat",
+    "Use the left arm to grab the the rubber sole shoe and put it on the mat",
+    "Lift the the rubber sole shoe from the table using the left arm and place it on the mat",
+    "Lift the white sneaker with red accents from the table and gently place it onto the mat"
+  ],
+  "unseen": [
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Use the left arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Use the left arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Use the left arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Use the left arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Use the left arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Use the left arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Use the left arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Use the left arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Use the left arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Use the left arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Use the left arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Use the left arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Use the left arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode56.json b/place_shoe/demo_clean/instructions/episode56.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f42d60d31500ad82173f8a0a3cb9eff3e0d202d
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode56.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the lace-up canvas shoe using the left arm, move it from the table to the mat",
+    "Pick the the lace-up sneaker from the table and place it gently on the mat",
+    "Take the classic sneaker design shoe from the table and carefully drop it on the mat",
+    "Retrieve the shoe with flat rubber sole from the table and set it on the mat",
+    "Lift the the medium-sized adult shoe from the table using the left arm and place it on the mat",
+    "Pick up the comfortable white and red shoe and move it to the mat",
+    "Pick the comfortable white and red shoe up from the table and put it on the mat",
+    "Lift the medium-sized adult shoe from the table and gently place it onto the mat",
+    "Grab the white shoe with flat sole from the table with the left arm and place it on the mat",
+    "Use the left arm to grab the the canvas shoe with grooved sole and put it on the mat",
+    "Move the white shoe with red tag from the table and place it down on the mat",
+    "Use the left arm to grab the the lace-up sneaker from the table and set it on the mat",
+    "Use the left arm to pick the shoe with flat rubber sole and position it on the mat",
+    "Remove the white shoe with red tag from the table and lay it on the mat",
+    "Take the white shoe with red tag from the table and position it on the mat",
+    "Use the left arm to lift the the classic sneaker design shoe from the table and set it on the mat",
+    "Pick the white shoe with flat sole up from the table and drop it directly on the mat",
+    "Take the lace-up sneaker from the table and place it on the mat",
+    "Lift the rounded front shoe and place it on the mat",
+    "Move the shoe with flat rubber sole from the table to the mat in one fluid motion",
+    "Take the the shoe with flat rubber sole off the table and put it on the mat",
+    "Grab the white sneaker with red accents using the left arm and drop it on the mat",
+    "Use the left arm to pick up the white shoe with red tag from the table and drop it on the mat",
+    "With the left arm, grab the shoe with flat rubber sole off the table and place it onto the mat",
+    "Lift the rubber sole shoe from the table and place it carefully on the mat",
+    "Move the lace-up sneaker from the table to the mat",
+    "Pick up the comfortable white and red shoe with the left arm, move it from the table, and set it on the mat",
+    "With the left arm, pick the medium-sized adult shoe up from the table and put it on the mat",
+    "With the left arm, grab the comfortable white and red shoe from the table and place it on the mat",
+    "Use the left arm to pick the comfortable white and red shoe off the table and move it onto the mat",
+    "Use the left arm to lift the canvas shoe with grooved sole from the table and set it on the mat",
+    "Grab the lace-up sneaker from the table and place it on the mat",
+    "Take the white shoe with red tag and put it on the mat",
+    "Using the left arm, grasp the canvas shoe with grooved sole from the table and place it onto the mat",
+    "Lift the the white shoe with red tag from the table and place it onto the mat",
+    "Move the canvas shoe with grooved sole from the table to the mat",
+    "Take the lace-up canvas shoe with the left arm and place it carefully on the mat",
+    "Use the left arm to lift the rubber sole shoe from the table and set it on the mat",
+    "Pick up the white shoe with flat sole with the left arm from the table and place it on the mat",
+    "Pick up the white shoe with red tag from the table and set it on the mat",
+    "Use the left arm to grab the canvas shoe with grooved sole from the table and move it to the mat",
+    "Transfer the lace-up canvas shoe from the table to the mat",
+    "Take the rounded front shoe from the table and put it on the mat",
+    "Use the left arm to grab the classic sneaker design shoe and transfer it to the mat",
+    "Lift the rounded front shoe off the table using the left arm and drop it on the mat",
+    "Lift the lace-up canvas shoe using the left arm from the table and place it on the mat",
+    "Pick the the classic sneaker design shoe off the table and position it on the mat",
+    "Grab the the lace-up sneaker on the table and move it to the mat",
+    "Using the left arm, lift the rubber sole shoe from the table and place it onto the mat",
+    "Take the the medium-sized adult shoe from the table using the left arm and drop it on the mat",
+    "Grab the lace-up sneaker using the left arm, move it from the table to the mat",
+    "Pick the the comfortable white and red shoe from the table and place it gently on the mat",
+    "Take the comfortable white and red shoe from the table and carefully drop it on the mat",
+    "Retrieve the white shoe with red tag from the table and set it on the mat",
+    "Lift the the medium-sized adult shoe from the table using the left arm and place it on the mat",
+    "Pick up the lace-up sneaker and move it to the mat",
+    "Pick the lace-up sneaker up from the table and put it on the mat",
+    "Lift the shoe with flat rubber sole from the table and gently place it onto the mat",
+    "Grab the medium-sized adult shoe from the table with the left arm and place it on the mat",
+    "Use the left arm to grab the the shoe with flat rubber sole and put it on the mat",
+    "Move the rubber sole shoe from the table and place it down on the mat",
+    "Use the left arm to grab the the classic sneaker design shoe from the table and set it on the mat",
+    "Use the left arm to pick the shoe with flat rubber sole and position it on the mat",
+    "Remove the rounded front shoe from the table and lay it on the mat",
+    "Take the lace-up sneaker from the table and position it on the mat",
+    "Use the left arm to lift the the rounded front shoe from the table and set it on the mat",
+    "Pick the white shoe with red tag up from the table and drop it directly on the mat",
+    "Take the classic sneaker design shoe from the table and place it on the mat",
+    "Lift the lace-up sneaker and place it on the mat",
+    "Move the lace-up canvas shoe from the table to the mat in one fluid motion",
+    "Take the the comfortable white and red shoe off the table and put it on the mat",
+    "Grab the classic sneaker design shoe using the left arm and drop it on the mat",
+    "Use the left arm to pick up the rounded front shoe from the table and drop it on the mat",
+    "With the left arm, grab the canvas shoe with grooved sole off the table and place it onto the mat",
+    "Lift the medium-sized adult shoe from the table and place it carefully on the mat",
+    "Move the lace-up canvas shoe from the table to the mat",
+    "Pick up the classic sneaker design shoe with the left arm, move it from the table, and set it on the mat",
+    "With the left arm, pick the white shoe with flat sole up from the table and put it on the mat",
+    "With the left arm, grab the shoe with flat rubber sole from the table and place it on the mat",
+    "Use the left arm to pick the canvas shoe with grooved sole off the table and move it onto the mat",
+    "Use the left arm to lift the canvas shoe with grooved sole from the table and set it on the mat",
+    "Grab the comfortable white and red shoe from the table and place it on the mat",
+    "Take the lace-up canvas shoe and put it on the mat",
+    "Using the left arm, grasp the classic sneaker design shoe from the table and place it onto the mat",
+    "Lift the the comfortable white and red shoe from the table and place it onto the mat",
+    "Move the shoe with flat rubber sole from the table to the mat",
+    "Take the medium-sized adult shoe with the left arm and place it carefully on the mat",
+    "Use the left arm to lift the white sneaker with red accents from the table and set it on the mat",
+    "Pick up the white sneaker with red accents with the left arm from the table and place it on the mat",
+    "Pick up the canvas shoe with grooved sole from the table and set it on the mat",
+    "Use the left arm to grab the lace-up sneaker from the table and move it to the mat",
+    "Transfer the comfortable white and red shoe from the table to the mat",
+    "Take the canvas shoe with grooved sole from the table and put it on the mat",
+    "Use the left arm to grab the rubber sole shoe and transfer it to the mat",
+    "Lift the rubber sole shoe off the table using the left arm and drop it on the mat",
+    "Lift the comfortable white and red shoe using the left arm from the table and place it on the mat",
+    "Pick the the lace-up canvas shoe off the table and position it on the mat",
+    "Grab the the rounded front shoe on the table and move it to the mat",
+    "Using the left arm, lift the rounded front shoe from the table and place it onto the mat",
+    "Take the the white sneaker with red accents from the table using the left arm and drop it on the mat"
+  ],
+  "unseen": [
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Use the left arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Use the left arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Use the left arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Use the left arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Use the left arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Use the left arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Use the left arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Use the left arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Use the left arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Use the left arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Use the left arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Use the left arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Use the left arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Use the left arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Use the left arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Use the left arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Use the left arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode57.json b/place_shoe/demo_clean/instructions/episode57.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dbdcf84a5e81e52c5b7b084e9d1fc2f03cae308
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode57.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the the canvas shoe with grooved sole from the table and place it gently on the mat",
+    "Take the shoe with flat rubber sole from the table and carefully drop it on the mat",
+    "Grab the the rubber sole shoe on the table and move it to the mat",
+    "Lift the the medium-sized adult shoe from the table using the right arm and place it on the mat",
+    "With the right arm, grab the lace-up sneaker off the table and place it onto the mat",
+    "Use the right arm to lift the white sneaker with red accents from the table and set it on the mat",
+    "Use the right arm to lift the white shoe with red tag from the table and set it on the mat",
+    "Move the shoe with flat rubber sole from the table to the mat in one fluid motion",
+    "Take the the white shoe with flat sole from the table using the right arm and drop it on the mat",
+    "Lift the rounded front shoe from the table and gently place it onto the mat",
+    "Use the right arm to pick the canvas shoe with grooved sole and position it on the mat",
+    "Pick up the shoe with flat rubber sole with the right arm, move it from the table, and set it on the mat",
+    "Take the canvas shoe with grooved sole and put it on the mat",
+    "Use the right arm to pick up the white shoe with flat sole from the table and drop it on the mat",
+    "Remove the white shoe with red tag from the table and lay it on the mat",
+    "Pick up the lace-up canvas shoe from the table and set it on the mat",
+    "Pick the the white shoe with flat sole off the table and position it on the mat",
+    "Retrieve the white sneaker with red accents from the table and set it on the mat",
+    "Grab the lace-up sneaker using the right arm, move it from the table to the mat",
+    "Using the right arm, lift the rounded front shoe from the table and place it onto the mat",
+    "With the right arm, pick the rounded front shoe up from the table and put it on the mat",
+    "Take the canvas shoe with grooved sole from the table and place it on the mat",
+    "With the right arm, grab the rubber sole shoe from the table and place it on the mat",
+    "Pick up the medium-sized adult shoe with the right arm from the table and place it on the mat",
+    "Take the canvas shoe with grooved sole from the table and position it on the mat",
+    "Move the comfortable white and red shoe from the table and place it down on the mat",
+    "Use the right arm to lift the the medium-sized adult shoe from the table and set it on the mat",
+    "Use the right arm to grab the medium-sized adult shoe and transfer it to the mat",
+    "Pick the white shoe with red tag up from the table and drop it directly on the mat",
+    "Grab the white shoe with red tag from the table and place it on the mat",
+    "Take the classic sneaker design shoe from the table and put it on the mat",
+    "Move the canvas shoe with grooved sole from the table to the mat",
+    "Lift the lace-up canvas shoe using the right arm from the table and place it on the mat",
+    "Use the right arm to pick the comfortable white and red shoe off the table and move it onto the mat",
+    "Pick the canvas shoe with grooved sole up from the table and put it on the mat",
+    "Transfer the lace-up sneaker from the table to the mat",
+    "Use the right arm to grab the the rubber sole shoe from the table and set it on the mat",
+    "Use the right arm to grab the the canvas shoe with grooved sole and put it on the mat",
+    "Lift the the white shoe with flat sole from the table and place it onto the mat",
+    "Move the lace-up sneaker from the table to the mat",
+    "Take the the white shoe with flat sole off the table and put it on the mat",
+    "Use the right arm to grab the rubber sole shoe from the table and move it to the mat",
+    "Grab the white sneaker with red accents using the right arm and drop it on the mat",
+    "Lift the white sneaker with red accents off the table using the right arm and drop it on the mat",
+    "Take the lace-up canvas shoe with the right arm and place it carefully on the mat",
+    "Lift the white shoe with flat sole and place it on the mat",
+    "Using the right arm, grasp the rounded front shoe from the table and place it onto the mat",
+    "Pick up the canvas shoe with grooved sole and move it to the mat",
+    "Lift the rounded front shoe from the table and place it carefully on the mat",
+    "Grab the shoe with flat rubber sole from the table with the right arm and place it on the mat",
+    "Pick the the shoe with flat rubber sole from the table and place it gently on the mat",
+    "Take the canvas shoe with grooved sole from the table and carefully drop it on the mat",
+    "Grab the the shoe with flat rubber sole on the table and move it to the mat",
+    "Lift the the lace-up canvas shoe from the table using the right arm and place it on the mat",
+    "With the right arm, grab the canvas shoe with grooved sole off the table and place it onto the mat",
+    "Use the right arm to lift the shoe with flat rubber sole from the table and set it on the mat",
+    "Use the right arm to lift the lace-up sneaker from the table and set it on the mat",
+    "Move the shoe with flat rubber sole from the table to the mat in one fluid motion",
+    "Take the the rounded front shoe from the table using the right arm and drop it on the mat",
+    "Lift the shoe with flat rubber sole from the table and gently place it onto the mat",
+    "Use the right arm to pick the shoe with flat rubber sole and position it on the mat",
+    "Pick up the lace-up sneaker with the right arm, move it from the table, and set it on the mat",
+    "Take the lace-up sneaker and put it on the mat",
+    "Use the right arm to pick up the lace-up canvas shoe from the table and drop it on the mat",
+    "Remove the shoe with flat rubber sole from the table and lay it on the mat",
+    "Pick up the comfortable white and red shoe from the table and set it on the mat",
+    "Pick the the rubber sole shoe off the table and position it on the mat",
+    "Retrieve the classic sneaker design shoe from the table and set it on the mat",
+    "Grab the white shoe with flat sole using the right arm, move it from the table to the mat",
+    "Using the right arm, lift the canvas shoe with grooved sole from the table and place it onto the mat",
+    "With the right arm, pick the medium-sized adult shoe up from the table and put it on the mat",
+    "Take the lace-up sneaker from the table and place it on the mat",
+    "With the right arm, grab the medium-sized adult shoe from the table and place it on the mat",
+    "Pick up the comfortable white and red shoe with the right arm from the table and place it on the mat",
+    "Take the white shoe with red tag from the table and position it on the mat",
+    "Move the lace-up sneaker from the table and place it down on the mat",
+    "Use the right arm to lift the the classic sneaker design shoe from the table and set it on the mat",
+    "Use the right arm to grab the lace-up sneaker and transfer it to the mat",
+    "Pick the lace-up sneaker up from the table and drop it directly on the mat",
+    "Grab the classic sneaker design shoe from the table and place it on the mat",
+    "Take the medium-sized adult shoe from the table and put it on the mat",
+    "Move the white sneaker with red accents from the table to the mat",
+    "Lift the comfortable white and red shoe using the right arm from the table and place it on the mat",
+    "Use the right arm to pick the white sneaker with red accents off the table and move it onto the mat",
+    "Pick the canvas shoe with grooved sole up from the table and put it on the mat",
+    "Transfer the lace-up canvas shoe from the table to the mat",
+    "Use the right arm to grab the the comfortable white and red shoe from the table and set it on the mat",
+    "Use the right arm to grab the the lace-up sneaker and put it on the mat",
+    "Lift the the lace-up sneaker from the table and place it onto the mat",
+    "Move the rubber sole shoe from the table to the mat",
+    "Take the the lace-up canvas shoe off the table and put it on the mat",
+    "Use the right arm to grab the canvas shoe with grooved sole from the table and move it to the mat",
+    "Grab the medium-sized adult shoe using the right arm and drop it on the mat",
+    "Lift the classic sneaker design shoe off the table using the right arm and drop it on the mat",
+    "Take the medium-sized adult shoe with the right arm and place it carefully on the mat",
+    "Lift the white shoe with red tag and place it on the mat",
+    "Using the right arm, grasp the lace-up canvas shoe from the table and place it onto the mat",
+    "Pick up the white shoe with flat sole and move it to the mat",
+    "Lift the medium-sized adult shoe from the table and place it carefully on the mat",
+    "Grab the lace-up sneaker from the table with the right arm and place it on the mat"
+  ],
+  "unseen": [
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Use the right arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Use the right arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Use the right arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Use the right arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Use the right arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Use the right arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Use the right arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Use the right arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Use the right arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Use the right arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Use the right arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode58.json b/place_shoe/demo_clean/instructions/episode58.json
new file mode 100644
index 0000000000000000000000000000000000000000..084dfa5d8fbce4c91b0209cc0b32d1fffe03a42c
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode58.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, grab the plastic brown shoe from the table and place it on the mat",
+    "Use the right arm to pick the medium-sized brown shoe and position it on the mat",
+    "Lift the shoe with textured bottom off the table using the right arm and drop it on the mat",
+    "Lift the shoe with rounded and open form using the right arm from the table and place it on the mat",
+    "Using the right arm, lift the shoe with rounded and open form from the table and place it onto the mat",
+    "Take the the shoe with rounded and open form off the table and put it on the mat",
+    "Lift the rounded shoe with visible straps from the table and gently place it onto the mat",
+    "Lift the the shoe with red green white pattern from the table and place it onto the mat",
+    "Take the plastic brown shoe from the table and place it on the mat",
+    "Transfer the shoe with colorful stripes from the table to the mat",
+    "Grab the shoe with colorful stripes using the right arm and drop it on the mat",
+    "Move the shoe with colorful stripes from the table to the mat",
+    "Retrieve the brown shoe with strap loops from the table and set it on the mat",
+    "Grab the light brown shoe using the right arm, move it from the table to the mat",
+    "Move the plastic brown shoe from the table to the mat in one fluid motion",
+    "Pick the shoe with open straps up from the table and drop it directly on the mat",
+    "Use the right arm to grab the medium-sized brown shoe from the table and move it to the mat",
+    "Use the right arm to lift the the shoe with red green white pattern from the table and set it on the mat",
+    "Pick the the shoe with rounded and open form from the table and place it gently on the mat",
+    "Grab the the shoe with red green white pattern on the table and move it to the mat",
+    "Pick the brown shoe with strap loops up from the table and put it on the mat",
+    "Pick up the shoe with rounded and open form with the right arm from the table and place it on the mat",
+    "Pick the the plastic brown shoe off the table and position it on the mat",
+    "Take the plastic brown shoe and put it on the mat",
+    "Pick up the small brown footwear replica and move it to the mat",
+    "Use the right arm to pick up the rounded shoe with visible straps from the table and drop it on the mat",
+    "Take the shoe with textured bottom from the table and position it on the mat",
+    "Take the shoe with open straps from the table and carefully drop it on the mat",
+    "Using the right arm, grasp the shoe with textured bottom from the table and place it onto the mat",
+    "Grab the shoe with textured bottom from the table with the right arm and place it on the mat",
+    "With the right arm, grab the light brown shoe off the table and place it onto the mat",
+    "Use the right arm to pick the medium-sized brown shoe off the table and move it onto the mat",
+    "Lift the the shoe with open straps from the table using the right arm and place it on the mat",
+    "Take the light brown shoe with the right arm and place it carefully on the mat",
+    "Take the shoe with textured bottom from the table and put it on the mat",
+    "Pick up the small brown footwear replica from the table and set it on the mat",
+    "Use the right arm to lift the plastic brown shoe from the table and set it on the mat",
+    "Remove the light brown shoe with white sole from the table and lay it on the mat",
+    "Use the right arm to grab the the shoe with textured bottom from the table and set it on the mat",
+    "Pick up the plastic brown shoe with the right arm, move it from the table, and set it on the mat",
+    "Lift the light brown shoe with white sole from the table and place it carefully on the mat",
+    "Use the right arm to grab the the light brown shoe with white sole and put it on the mat",
+    "Move the light brown shoe from the table and place it down on the mat",
+    "Move the shoe with red green white pattern from the table to the mat",
+    "Lift the shoe with open straps and place it on the mat",
+    "Grab the shoe with open straps from the table and place it on the mat",
+    "With the right arm, pick the shoe with textured bottom up from the table and put it on the mat",
+    "Use the right arm to lift the plastic brown shoe from the table and set it on the mat",
+    "Take the the small brown footwear replica from the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the medium-sized brown shoe and transfer it to the mat",
+    "With the right arm, grab the brown shoe with strap loops from the table and place it on the mat",
+    "Use the right arm to pick the brown shoe with strap loops and position it on the mat",
+    "Lift the brown shoe with strap loops off the table using the right arm and drop it on the mat",
+    "Lift the shoe with colorful stripes using the right arm from the table and place it on the mat",
+    "Using the right arm, lift the shoe with rounded and open form from the table and place it onto the mat",
+    "Take the the shoe with open straps off the table and put it on the mat",
+    "Lift the shoe with open straps from the table and gently place it onto the mat",
+    "Lift the the shoe with open straps from the table and place it onto the mat",
+    "Take the medium-sized brown shoe from the table and place it on the mat",
+    "Transfer the light brown shoe with white sole from the table to the mat",
+    "Grab the shoe with open straps using the right arm and drop it on the mat",
+    "Move the shoe with open straps from the table to the mat",
+    "Retrieve the light brown shoe from the table and set it on the mat",
+    "Grab the shoe with red green white pattern using the right arm, move it from the table to the mat",
+    "Move the small brown footwear replica from the table to the mat in one fluid motion",
+    "Pick the light brown shoe with white sole up from the table and drop it directly on the mat",
+    "Use the right arm to grab the light brown shoe with white sole from the table and move it to the mat",
+    "Use the right arm to lift the the light brown shoe with white sole from the table and set it on the mat",
+    "Pick the the light brown shoe from the table and place it gently on the mat",
+    "Grab the the brown shoe with strap loops on the table and move it to the mat",
+    "Pick the shoe with red green white pattern up from the table and put it on the mat",
+    "Pick up the rounded shoe with visible straps with the right arm from the table and place it on the mat",
+    "Pick the the shoe with textured bottom off the table and position it on the mat",
+    "Take the light brown shoe and put it on the mat",
+    "Pick up the brown shoe with strap loops and move it to the mat",
+    "Use the right arm to pick up the rounded shoe with visible straps from the table and drop it on the mat",
+    "Take the medium-sized brown shoe from the table and position it on the mat",
+    "Take the light brown shoe with white sole from the table and carefully drop it on the mat",
+    "Using the right arm, grasp the shoe with textured bottom from the table and place it onto the mat",
+    "Grab the brown shoe with strap loops from the table with the right arm and place it on the mat",
+    "With the right arm, grab the shoe with rounded and open form off the table and place it onto the mat",
+    "Use the right arm to pick the shoe with red green white pattern off the table and move it onto the mat",
+    "Lift the the brown shoe with strap loops from the table using the right arm and place it on the mat",
+    "Take the plastic brown shoe with the right arm and place it carefully on the mat",
+    "Take the medium-sized brown shoe from the table and put it on the mat",
+    "Pick up the shoe with textured bottom from the table and set it on the mat",
+    "Use the right arm to lift the rounded shoe with visible straps from the table and set it on the mat",
+    "Remove the medium-sized brown shoe from the table and lay it on the mat",
+    "Use the right arm to grab the the brown shoe with strap loops from the table and set it on the mat",
+    "Pick up the rounded shoe with visible straps with the right arm, move it from the table, and set it on the mat",
+    "Lift the small brown footwear replica from the table and place it carefully on the mat",
+    "Use the right arm to grab the the shoe with textured bottom and put it on the mat",
+    "Move the light brown shoe from the table and place it down on the mat",
+    "Move the small brown footwear replica from the table to the mat",
+    "Lift the brown shoe with strap loops and place it on the mat",
+    "Grab the small brown footwear replica from the table and place it on the mat",
+    "With the right arm, pick the shoe with textured bottom up from the table and put it on the mat",
+    "Use the right arm to lift the light brown shoe from the table and set it on the mat",
+    "Take the the brown shoe with strap loops from the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the light brown shoe and transfer it to the mat"
+  ],
+  "unseen": [
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the right arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the right arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Use the right arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the right arm to lift the smooth plastic shoe and drop it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the right arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the right arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Use the right arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the right arm to lift the smooth plastic shoe and drop it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the right arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the right arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Use the right arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the right arm to lift the smooth plastic shoe and drop it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Use the right arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the right arm to lift the smooth plastic shoe and drop it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the right arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the right arm to lift the smooth plastic shoe and drop it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the right arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the right arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the right arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the right arm to lift the shoe model with ribbed sole and drop it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode59.json b/place_shoe/demo_clean/instructions/episode59.json
new file mode 100644
index 0000000000000000000000000000000000000000..e92689a485eb4daaed2dbb9934f52fe2d4292fe3
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode59.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the dark shoe with grooves on sole from the table and carefully drop it on the mat",
+    "Take the smooth leather shoe from the table and place it on the mat",
+    "Use the right arm to lift the smooth leather shoe from the table and set it on the mat",
+    "Pick the brown shoe up from the table and put it on the mat",
+    "Pick the shoe with grooved bottom up from the table and drop it directly on the mat",
+    "Use the right arm to pick the shoe for everyday wear off the table and move it onto the mat",
+    "Lift the rounded tip leather shoe from the table and gently place it onto the mat",
+    "Take the the dark brown leather shoe off the table and put it on the mat",
+    "Lift the shoe with grooved bottom and place it on the mat",
+    "Take the rounded front shoe and put it on the mat",
+    "Pick up the rounded front shoe with the right arm, move it from the table, and set it on the mat",
+    "With the right arm, grab the rounded front shoe off the table and place it onto the mat",
+    "Grab the shoe with thick rubber sole using the right arm, move it from the table to the mat",
+    "Use the right arm to pick the shoe with lace holes and position it on the mat",
+    "Move the shoe with lace holes from the table to the mat",
+    "Take the shoe with thick rubber sole with the right arm and place it carefully on the mat",
+    "Pick the the shoe with lace holes from the table and place it gently on the mat",
+    "Take the shoe with lace holes from the table and put it on the mat",
+    "Pick up the shoe with lace holes and move it to the mat",
+    "Retrieve the rounded tip leather shoe from the table and set it on the mat",
+    "Use the right arm to lift the the brown shoe from the table and set it on the mat",
+    "Grab the rounded tip leather shoe from the table and place it on the mat",
+    "Move the dark brown leather shoe from the table to the mat in one fluid motion",
+    "Lift the the smooth leather shoe from the table using the right arm and place it on the mat",
+    "Grab the rounded front shoe using the right arm and drop it on the mat",
+    "With the right arm, pick the rounded tip leather shoe up from the table and put it on the mat",
+    "Using the right arm, lift the shoe with thick rubber sole from the table and place it onto the mat",
+    "Grab the the shoe for everyday wear on the table and move it to the mat",
+    "Lift the shoe for everyday wear using the right arm from the table and place it on the mat",
+    "Pick up the brown shoe with the right arm from the table and place it on the mat",
+    "Move the rounded tip leather shoe from the table and place it down on the mat",
+    "Use the right arm to grab the shoe for everyday wear from the table and move it to the mat",
+    "With the right arm, grab the shoe with grooved bottom from the table and place it on the mat",
+    "Use the right arm to pick up the shoe for walking with rubber grip from the table and drop it on the mat",
+    "Use the right arm to grab the the shoe for walking with rubber grip from the table and set it on the mat",
+    "Transfer the rounded tip leather shoe from the table to the mat",
+    "Take the the dark brown leather shoe from the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the shoe for walking with rubber grip and transfer it to the mat",
+    "Pick the the shoe for everyday wear off the table and position it on the mat",
+    "Remove the medium-sized walking shoe from the table and lay it on the mat",
+    "Use the right arm to grab the the shoe with grooved bottom and put it on the mat",
+    "Use the right arm to lift the shoe with thick rubber sole from the table and set it on the mat",
+    "Lift the shoe with thick rubber sole from the table and place it carefully on the mat",
+    "Lift the shoe with lace holes off the table using the right arm and drop it on the mat",
+    "Take the rounded front shoe from the table and position it on the mat",
+    "Move the brown shoe from the table to the mat",
+    "Lift the the shoe for everyday wear from the table and place it onto the mat",
+    "Grab the rounded front shoe from the table with the right arm and place it on the mat",
+    "Using the right arm, grasp the medium-sized walking shoe from the table and place it onto the mat",
+    "Pick up the rounded front shoe from the table and set it on the mat",
+    "Take the medium-sized walking shoe from the table and carefully drop it on the mat",
+    "Take the shoe with grooved bottom from the table and place it on the mat",
+    "Use the right arm to lift the brown shoe from the table and set it on the mat",
+    "Pick the dark shoe with grooves on sole up from the table and put it on the mat",
+    "Pick the shoe with thick rubber sole up from the table and drop it directly on the mat",
+    "Use the right arm to pick the shoe with grooved bottom off the table and move it onto the mat",
+    "Lift the shoe with lace holes from the table and gently place it onto the mat",
+    "Take the the shoe for everyday wear off the table and put it on the mat",
+    "Lift the shoe with grooved bottom and place it on the mat",
+    "Take the shoe with thick rubber sole and put it on the mat",
+    "Pick up the dark brown leather shoe with the right arm, move it from the table, and set it on the mat",
+    "With the right arm, grab the shoe for walking with rubber grip off the table and place it onto the mat",
+    "Grab the brown shoe using the right arm, move it from the table to the mat",
+    "Use the right arm to pick the medium-sized walking shoe and position it on the mat",
+    "Move the dark shoe with grooves on sole from the table to the mat",
+    "Take the brown shoe with the right arm and place it carefully on the mat",
+    "Pick the the shoe with lace holes from the table and place it gently on the mat",
+    "Take the shoe with lace holes from the table and put it on the mat",
+    "Pick up the rounded tip leather shoe and move it to the mat",
+    "Retrieve the shoe with grooved bottom from the table and set it on the mat",
+    "Use the right arm to lift the the brown shoe from the table and set it on the mat",
+    "Grab the smooth leather shoe from the table and place it on the mat",
+    "Move the dark brown leather shoe from the table to the mat in one fluid motion",
+    "Lift the the shoe with lace holes from the table using the right arm and place it on the mat",
+    "Grab the shoe with lace holes using the right arm and drop it on the mat",
+    "With the right arm, pick the smooth leather shoe up from the table and put it on the mat",
+    "Using the right arm, lift the shoe for walking with rubber grip from the table and place it onto the mat",
+    "Grab the the smooth leather shoe on the table and move it to the mat",
+    "Lift the rounded front shoe using the right arm from the table and place it on the mat",
+    "Pick up the shoe with grooved bottom with the right arm from the table and place it on the mat",
+    "Move the rounded tip leather shoe from the table and place it down on the mat",
+    "Use the right arm to grab the shoe for everyday wear from the table and move it to the mat",
+    "With the right arm, grab the shoe with lace holes from the table and place it on the mat",
+    "Use the right arm to pick up the dark brown leather shoe from the table and drop it on the mat",
+    "Use the right arm to grab the the medium-sized walking shoe from the table and set it on the mat",
+    "Transfer the dark shoe with grooves on sole from the table to the mat",
+    "Take the the dark shoe with grooves on sole from the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the medium-sized walking shoe and transfer it to the mat",
+    "Pick the the dark shoe with grooves on sole off the table and position it on the mat",
+    "Remove the shoe with lace holes from the table and lay it on the mat",
+    "Use the right arm to grab the the shoe with thick rubber sole and put it on the mat",
+    "Use the right arm to lift the shoe for everyday wear from the table and set it on the mat",
+    "Lift the dark shoe with grooves on sole from the table and place it carefully on the mat",
+    "Lift the smooth leather shoe off the table using the right arm and drop it on the mat",
+    "Take the shoe with thick rubber sole from the table and position it on the mat",
+    "Move the dark brown leather shoe from the table to the mat",
+    "Lift the the rounded tip leather shoe from the table and place it onto the mat",
+    "Grab the rounded tip leather shoe from the table with the right arm and place it on the mat",
+    "Using the right arm, grasp the shoe with lace holes from the table and place it onto the mat",
+    "Pick up the dark shoe with grooves on sole from the table and set it on the mat"
+  ],
+  "unseen": [
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode6.json b/place_shoe/demo_clean/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2a058a43df4596a4eb0fa764c788996a5cb0ca3
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the the rounded tip leather shoe off the table and put it on the mat",
+    "Remove the shoe with grooved bottom from the table and lay it on the mat",
+    "Using the right arm, lift the shoe for walking with rubber grip from the table and place it onto the mat",
+    "Take the dark brown leather shoe with the right arm and place it carefully on the mat",
+    "Transfer the shoe for everyday wear from the table to the mat",
+    "Lift the smooth leather shoe from the table and place it carefully on the mat",
+    "Grab the shoe for everyday wear from the table and place it on the mat",
+    "Move the shoe for walking with rubber grip from the table to the mat in one fluid motion",
+    "With the right arm, grab the shoe for walking with rubber grip off the table and place it onto the mat",
+    "Take the rounded tip leather shoe from the table and position it on the mat",
+    "Pick up the dark brown leather shoe with the right arm from the table and place it on the mat",
+    "Take the rounded front shoe and put it on the mat",
+    "Grab the smooth leather shoe using the right arm and drop it on the mat",
+    "Lift the rounded tip leather shoe off the table using the right arm and drop it on the mat",
+    "Lift the rounded tip leather shoe using the right arm from the table and place it on the mat",
+    "Lift the the shoe with lace holes from the table and place it onto the mat",
+    "Take the the dark brown leather shoe from the table using the right arm and drop it on the mat",
+    "Pick up the dark brown leather shoe and move it to the mat",
+    "Take the dark shoe with grooves on sole from the table and put it on the mat",
+    "Pick the the rounded front shoe from the table and place it gently on the mat",
+    "Pick the the shoe with grooved bottom off the table and position it on the mat",
+    "Move the shoe with grooved bottom from the table to the mat",
+    "Move the shoe with grooved bottom from the table and place it down on the mat",
+    "Move the shoe with thick rubber sole from the table to the mat",
+    "Use the right arm to pick the shoe for everyday wear off the table and move it onto the mat",
+    "Using the right arm, grasp the smooth leather shoe from the table and place it onto the mat",
+    "Use the right arm to grab the the shoe with lace holes and put it on the mat",
+    "Retrieve the shoe with grooved bottom from the table and set it on the mat",
+    "Take the dark brown leather shoe from the table and place it on the mat",
+    "Grab the shoe for everyday wear using the right arm, move it from the table to the mat",
+    "Grab the rounded tip leather shoe from the table with the right arm and place it on the mat",
+    "Use the right arm to lift the rounded front shoe from the table and set it on the mat",
+    "Pick the dark brown leather shoe up from the table and drop it directly on the mat",
+    "Pick the rounded tip leather shoe up from the table and put it on the mat",
+    "Use the right arm to grab the shoe with grooved bottom and transfer it to the mat",
+    "Use the right arm to pick the shoe for walking with rubber grip and position it on the mat",
+    "With the right arm, pick the shoe with thick rubber sole up from the table and put it on the mat",
+    "Lift the rounded front shoe from the table and gently place it onto the mat",
+    "Use the right arm to lift the shoe for everyday wear from the table and set it on the mat",
+    "Pick up the shoe with grooved bottom from the table and set it on the mat",
+    "Use the right arm to lift the the brown shoe from the table and set it on the mat",
+    "Take the rounded tip leather shoe from the table and carefully drop it on the mat",
+    "Pick up the medium-sized walking shoe with the right arm, move it from the table, and set it on the mat",
+    "Use the right arm to grab the shoe for walking with rubber grip from the table and move it to the mat",
+    "Grab the the medium-sized walking shoe on the table and move it to the mat",
+    "Use the right arm to grab the the shoe with lace holes from the table and set it on the mat",
+    "Lift the shoe for walking with rubber grip and place it on the mat",
+    "With the right arm, grab the dark shoe with grooves on sole from the table and place it on the mat",
+    "Lift the the rounded front shoe from the table using the right arm and place it on the mat",
+    "Use the right arm to pick up the shoe for everyday wear from the table and drop it on the mat",
+    "Take the the dark brown leather shoe off the table and put it on the mat",
+    "Remove the smooth leather shoe from the table and lay it on the mat",
+    "Using the right arm, lift the medium-sized walking shoe from the table and place it onto the mat",
+    "Take the rounded front shoe with the right arm and place it carefully on the mat",
+    "Transfer the dark brown leather shoe from the table to the mat",
+    "Lift the brown shoe from the table and place it carefully on the mat",
+    "Grab the brown shoe from the table and place it on the mat",
+    "Move the dark shoe with grooves on sole from the table to the mat in one fluid motion",
+    "With the right arm, grab the dark shoe with grooves on sole off the table and place it onto the mat",
+    "Take the dark shoe with grooves on sole from the table and position it on the mat",
+    "Pick up the rounded front shoe with the right arm from the table and place it on the mat",
+    "Take the shoe for walking with rubber grip and put it on the mat",
+    "Grab the smooth leather shoe using the right arm and drop it on the mat",
+    "Lift the shoe with lace holes off the table using the right arm and drop it on the mat",
+    "Lift the rounded tip leather shoe using the right arm from the table and place it on the mat",
+    "Lift the the dark brown leather shoe from the table and place it onto the mat",
+    "Take the the shoe for walking with rubber grip from the table using the right arm and drop it on the mat",
+    "Pick up the rounded tip leather shoe and move it to the mat",
+    "Take the brown shoe from the table and put it on the mat",
+    "Pick the the rounded tip leather shoe from the table and place it gently on the mat",
+    "Pick the the brown shoe off the table and position it on the mat",
+    "Move the shoe for everyday wear from the table to the mat",
+    "Move the shoe for walking with rubber grip from the table and place it down on the mat",
+    "Move the shoe for walking with rubber grip from the table to the mat",
+    "Use the right arm to pick the shoe with thick rubber sole off the table and move it onto the mat",
+    "Using the right arm, grasp the shoe with grooved bottom from the table and place it onto the mat",
+    "Use the right arm to grab the the dark shoe with grooves on sole and put it on the mat",
+    "Retrieve the dark shoe with grooves on sole from the table and set it on the mat",
+    "Take the dark shoe with grooves on sole from the table and place it on the mat",
+    "Grab the dark shoe with grooves on sole using the right arm, move it from the table to the mat",
+    "Grab the smooth leather shoe from the table with the right arm and place it on the mat",
+    "Use the right arm to lift the rounded tip leather shoe from the table and set it on the mat",
+    "Pick the shoe for everyday wear up from the table and drop it directly on the mat",
+    "Pick the medium-sized walking shoe up from the table and put it on the mat",
+    "Use the right arm to grab the smooth leather shoe and transfer it to the mat",
+    "Use the right arm to pick the rounded tip leather shoe and position it on the mat",
+    "With the right arm, pick the shoe for everyday wear up from the table and put it on the mat",
+    "Lift the rounded tip leather shoe from the table and gently place it onto the mat",
+    "Use the right arm to lift the shoe with lace holes from the table and set it on the mat",
+    "Pick up the shoe with thick rubber sole from the table and set it on the mat",
+    "Use the right arm to lift the the dark brown leather shoe from the table and set it on the mat",
+    "Take the shoe for walking with rubber grip from the table and carefully drop it on the mat",
+    "Pick up the brown shoe with the right arm, move it from the table, and set it on the mat",
+    "Use the right arm to grab the rounded front shoe from the table and move it to the mat",
+    "Grab the the smooth leather shoe on the table and move it to the mat",
+    "Use the right arm to grab the the smooth leather shoe from the table and set it on the mat",
+    "Lift the shoe with thick rubber sole and place it on the mat",
+    "With the right arm, grab the shoe for walking with rubber grip from the table and place it on the mat",
+    "Lift the the dark shoe with grooves on sole from the table using the right arm and place it on the mat",
+    "Use the right arm to pick up the medium-sized walking shoe from the table and drop it on the mat"
+  ],
+  "unseen": [
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode60.json b/place_shoe/demo_clean/instructions/episode60.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bd3c4869df9cfac3823bf6ae4fc6c86e625fc93
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode60.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the lace-up sneaker from the table to the mat",
+    "Take the the lace-up canvas shoe off the table and put it on the mat",
+    "Pick the the lace-up canvas shoe off the table and position it on the mat",
+    "Use the right arm to pick the rubber sole shoe and position it on the mat",
+    "Grab the comfortable white and red shoe using the right arm and drop it on the mat",
+    "Move the shoe with flat rubber sole from the table to the mat in one fluid motion",
+    "Lift the white sneaker with red accents from the table and place it carefully on the mat",
+    "Use the right arm to pick up the white shoe with red tag from the table and drop it on the mat",
+    "Use the right arm to grab the the rubber sole shoe from the table and set it on the mat",
+    "Grab the classic sneaker design shoe from the table and place it on the mat",
+    "Use the right arm to grab the the lace-up sneaker and put it on the mat",
+    "Pick up the medium-sized adult shoe with the right arm, move it from the table, and set it on the mat",
+    "Pick up the canvas shoe with grooved sole and move it to the mat",
+    "Using the right arm, grasp the white shoe with flat sole from the table and place it onto the mat",
+    "With the right arm, grab the white shoe with red tag from the table and place it on the mat",
+    "Pick the classic sneaker design shoe up from the table and drop it directly on the mat",
+    "Retrieve the rubber sole shoe from the table and set it on the mat",
+    "Lift the the white shoe with red tag from the table using the right arm and place it on the mat",
+    "With the right arm, grab the lace-up sneaker off the table and place it onto the mat",
+    "Grab the the lace-up canvas shoe on the table and move it to the mat",
+    "Use the right arm to lift the the canvas shoe with grooved sole from the table and set it on the mat",
+    "Lift the shoe with flat rubber sole and place it on the mat",
+    "Lift the lace-up canvas shoe using the right arm from the table and place it on the mat",
+    "Lift the the rubber sole shoe from the table and place it onto the mat",
+    "Remove the white sneaker with red accents from the table and lay it on the mat",
+    "Take the medium-sized adult shoe with the right arm and place it carefully on the mat",
+    "Take the the canvas shoe with grooved sole from the table using the right arm and drop it on the mat",
+    "Pick up the shoe with flat rubber sole from the table and set it on the mat",
+    "With the right arm, pick the rubber sole shoe up from the table and put it on the mat",
+    "Use the right arm to lift the comfortable white and red shoe from the table and set it on the mat",
+    "Pick the white shoe with red tag up from the table and put it on the mat",
+    "Move the lace-up canvas shoe from the table and place it down on the mat",
+    "Lift the white shoe with red tag from the table and gently place it onto the mat",
+    "Pick up the comfortable white and red shoe with the right arm from the table and place it on the mat",
+    "Take the canvas shoe with grooved sole from the table and put it on the mat",
+    "Use the right arm to pick the canvas shoe with grooved sole off the table and move it onto the mat",
+    "Take the lace-up sneaker from the table and place it on the mat",
+    "Using the right arm, lift the white sneaker with red accents from the table and place it onto the mat",
+    "Use the right arm to grab the medium-sized adult shoe and transfer it to the mat",
+    "Lift the shoe with flat rubber sole off the table using the right arm and drop it on the mat",
+    "Grab the classic sneaker design shoe from the table with the right arm and place it on the mat",
+    "Take the shoe with flat rubber sole from the table and position it on the mat",
+    "Pick the the medium-sized adult shoe from the table and place it gently on the mat",
+    "Use the right arm to grab the white shoe with flat sole from the table and move it to the mat",
+    "Use the right arm to lift the white shoe with red tag from the table and set it on the mat",
+    "Transfer the lace-up canvas shoe from the table to the mat",
+    "Take the comfortable white and red shoe from the table and carefully drop it on the mat",
+    "Move the white shoe with red tag from the table to the mat",
+    "Grab the rounded front shoe using the right arm, move it from the table to the mat",
+    "Take the white shoe with flat sole and put it on the mat",
+    "Move the canvas shoe with grooved sole from the table to the mat",
+    "Take the the classic sneaker design shoe off the table and put it on the mat",
+    "Pick the the rubber sole shoe off the table and position it on the mat",
+    "Use the right arm to pick the comfortable white and red shoe and position it on the mat",
+    "Grab the shoe with flat rubber sole using the right arm and drop it on the mat",
+    "Move the white shoe with flat sole from the table to the mat in one fluid motion",
+    "Lift the white sneaker with red accents from the table and place it carefully on the mat",
+    "Use the right arm to pick up the white shoe with red tag from the table and drop it on the mat",
+    "Use the right arm to grab the the classic sneaker design shoe from the table and set it on the mat",
+    "Grab the white shoe with flat sole from the table and place it on the mat",
+    "Use the right arm to grab the the comfortable white and red shoe and put it on the mat",
+    "Pick up the white shoe with red tag with the right arm, move it from the table, and set it on the mat",
+    "Pick up the canvas shoe with grooved sole and move it to the mat",
+    "Using the right arm, grasp the rubber sole shoe from the table and place it onto the mat",
+    "With the right arm, grab the white shoe with red tag from the table and place it on the mat",
+    "Pick the lace-up sneaker up from the table and drop it directly on the mat",
+    "Retrieve the white shoe with red tag from the table and set it on the mat",
+    "Lift the the medium-sized adult shoe from the table using the right arm and place it on the mat",
+    "With the right arm, grab the medium-sized adult shoe off the table and place it onto the mat",
+    "Grab the the medium-sized adult shoe on the table and move it to the mat",
+    "Use the right arm to lift the the white shoe with flat sole from the table and set it on the mat",
+    "Lift the white shoe with flat sole and place it on the mat",
+    "Lift the white sneaker with red accents using the right arm from the table and place it on the mat",
+    "Lift the the white sneaker with red accents from the table and place it onto the mat",
+    "Remove the lace-up sneaker from the table and lay it on the mat",
+    "Take the shoe with flat rubber sole with the right arm and place it carefully on the mat",
+    "Take the the white shoe with red tag from the table using the right arm and drop it on the mat",
+    "Pick up the comfortable white and red shoe from the table and set it on the mat",
+    "With the right arm, pick the lace-up sneaker up from the table and put it on the mat",
+    "Use the right arm to lift the medium-sized adult shoe from the table and set it on the mat",
+    "Pick the white shoe with red tag up from the table and put it on the mat",
+    "Move the medium-sized adult shoe from the table and place it down on the mat",
+    "Lift the classic sneaker design shoe from the table and gently place it onto the mat",
+    "Pick up the lace-up canvas shoe with the right arm from the table and place it on the mat",
+    "Take the rounded front shoe from the table and put it on the mat",
+    "Use the right arm to pick the canvas shoe with grooved sole off the table and move it onto the mat",
+    "Take the rounded front shoe from the table and place it on the mat",
+    "Using the right arm, lift the lace-up sneaker from the table and place it onto the mat",
+    "Use the right arm to grab the white sneaker with red accents and transfer it to the mat",
+    "Lift the shoe with flat rubber sole off the table using the right arm and drop it on the mat",
+    "Grab the white shoe with red tag from the table with the right arm and place it on the mat",
+    "Take the white sneaker with red accents from the table and position it on the mat",
+    "Pick the the rubber sole shoe from the table and place it gently on the mat",
+    "Use the right arm to grab the lace-up sneaker from the table and move it to the mat",
+    "Use the right arm to lift the white shoe with red tag from the table and set it on the mat",
+    "Transfer the comfortable white and red shoe from the table to the mat",
+    "Take the rounded front shoe from the table and carefully drop it on the mat",
+    "Move the canvas shoe with grooved sole from the table to the mat",
+    "Grab the rounded front shoe using the right arm, move it from the table to the mat",
+    "Take the rubber sole shoe and put it on the mat"
+  ],
+  "unseen": [
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Use the right arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Use the right arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Use the right arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Use the right arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Use the right arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Use the right arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Use the right arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Use the right arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Use the right arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Use the right arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode61.json b/place_shoe/demo_clean/instructions/episode61.json
new file mode 100644
index 0000000000000000000000000000000000000000..937592459619a17eb29166982409991248e3d897
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode61.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the rounded tip leather shoe from the table and place it down on the mat",
+    "With the left arm, grab the shoe with lace holes from the table and place it on the mat",
+    "Pick the the shoe with thick rubber sole from the table and place it gently on the mat",
+    "Use the left arm to grab the the shoe with thick rubber sole and put it on the mat",
+    "Take the shoe for everyday wear from the table and carefully drop it on the mat",
+    "Use the left arm to grab the the medium-sized walking shoe from the table and set it on the mat",
+    "Pick up the brown shoe with the left arm, move it from the table, and set it on the mat",
+    "Pick up the medium-sized walking shoe from the table and set it on the mat",
+    "Use the left arm to lift the the shoe for walking with rubber grip from the table and set it on the mat",
+    "Use the left arm to lift the rounded tip leather shoe from the table and set it on the mat",
+    "Lift the shoe with grooved bottom off the table using the left arm and drop it on the mat",
+    "Transfer the rounded tip leather shoe from the table to the mat",
+    "Pick the shoe for walking with rubber grip up from the table and drop it directly on the mat",
+    "Lift the the shoe for everyday wear from the table and place it onto the mat",
+    "Move the dark brown leather shoe from the table to the mat",
+    "Retrieve the shoe with lace holes from the table and set it on the mat",
+    "Pick up the rounded tip leather shoe with the left arm from the table and place it on the mat",
+    "Use the left arm to lift the dark brown leather shoe from the table and set it on the mat",
+    "Pick up the rounded tip leather shoe and move it to the mat",
+    "Grab the shoe with grooved bottom from the table and place it on the mat",
+    "Remove the dark shoe with grooves on sole from the table and lay it on the mat",
+    "Lift the the shoe with lace holes from the table using the left arm and place it on the mat",
+    "Take the shoe with thick rubber sole from the table and put it on the mat",
+    "Take the rounded front shoe from the table and position it on the mat",
+    "Take the rounded front shoe from the table and place it on the mat",
+    "Lift the shoe with grooved bottom using the left arm from the table and place it on the mat",
+    "Use the left arm to pick the shoe with lace holes off the table and move it onto the mat",
+    "Take the the dark brown leather shoe off the table and put it on the mat",
+    "Pick the rounded tip leather shoe up from the table and put it on the mat",
+    "Grab the shoe with thick rubber sole using the left arm and drop it on the mat",
+    "Grab the dark brown leather shoe using the left arm, move it from the table to the mat",
+    "Pick the the shoe with lace holes off the table and position it on the mat",
+    "Grab the the shoe with grooved bottom on the table and move it to the mat",
+    "Grab the shoe for everyday wear from the table with the left arm and place it on the mat",
+    "Lift the rounded tip leather shoe from the table and place it carefully on the mat",
+    "Use the left arm to grab the shoe for walking with rubber grip and transfer it to the mat",
+    "Using the left arm, grasp the dark shoe with grooves on sole from the table and place it onto the mat",
+    "With the left arm, pick the dark brown leather shoe up from the table and put it on the mat",
+    "Use the left arm to pick the shoe with lace holes and position it on the mat",
+    "Using the left arm, lift the shoe with thick rubber sole from the table and place it onto the mat",
+    "Lift the dark brown leather shoe and place it on the mat",
+    "With the left arm, grab the shoe for walking with rubber grip off the table and place it onto the mat",
+    "Lift the dark brown leather shoe from the table and gently place it onto the mat",
+    "Move the shoe with grooved bottom from the table to the mat",
+    "Take the the dark brown leather shoe from the table using the left arm and drop it on the mat",
+    "Take the medium-sized walking shoe with the left arm and place it carefully on the mat",
+    "Move the shoe with lace holes from the table to the mat in one fluid motion",
+    "Take the brown shoe and put it on the mat",
+    "Use the left arm to pick up the brown shoe from the table and drop it on the mat",
+    "Use the left arm to grab the rounded front shoe from the table and move it to the mat",
+    "Move the brown shoe from the table and place it down on the mat",
+    "With the left arm, grab the rounded tip leather shoe from the table and place it on the mat",
+    "Pick the the rounded tip leather shoe from the table and place it gently on the mat",
+    "Use the left arm to grab the the rounded tip leather shoe and put it on the mat",
+    "Take the shoe with grooved bottom from the table and carefully drop it on the mat",
+    "Use the left arm to grab the the rounded front shoe from the table and set it on the mat",
+    "Pick up the dark brown leather shoe with the left arm, move it from the table, and set it on the mat",
+    "Pick up the shoe with lace holes from the table and set it on the mat",
+    "Use the left arm to lift the the brown shoe from the table and set it on the mat",
+    "Use the left arm to lift the medium-sized walking shoe from the table and set it on the mat",
+    "Lift the shoe with thick rubber sole off the table using the left arm and drop it on the mat",
+    "Transfer the rounded front shoe from the table to the mat",
+    "Pick the shoe with thick rubber sole up from the table and drop it directly on the mat",
+    "Lift the the brown shoe from the table and place it onto the mat",
+    "Move the shoe for everyday wear from the table to the mat",
+    "Retrieve the medium-sized walking shoe from the table and set it on the mat",
+    "Pick up the dark brown leather shoe with the left arm from the table and place it on the mat",
+    "Use the left arm to lift the shoe for everyday wear from the table and set it on the mat",
+    "Pick up the shoe with grooved bottom and move it to the mat",
+    "Grab the shoe with lace holes from the table and place it on the mat",
+    "Remove the shoe with grooved bottom from the table and lay it on the mat",
+    "Lift the the brown shoe from the table using the left arm and place it on the mat",
+    "Take the shoe with grooved bottom from the table and put it on the mat",
+    "Take the brown shoe from the table and position it on the mat",
+    "Take the dark shoe with grooves on sole from the table and place it on the mat",
+    "Lift the shoe with lace holes using the left arm from the table and place it on the mat",
+    "Use the left arm to pick the smooth leather shoe off the table and move it onto the mat",
+    "Take the the shoe for walking with rubber grip off the table and put it on the mat",
+    "Pick the dark brown leather shoe up from the table and put it on the mat",
+    "Grab the shoe for walking with rubber grip using the left arm and drop it on the mat",
+    "Grab the brown shoe using the left arm, move it from the table to the mat",
+    "Pick the the shoe with lace holes off the table and position it on the mat",
+    "Grab the the shoe for walking with rubber grip on the table and move it to the mat",
+    "Grab the dark shoe with grooves on sole from the table with the left arm and place it on the mat",
+    "Lift the shoe with lace holes from the table and place it carefully on the mat",
+    "Use the left arm to grab the medium-sized walking shoe and transfer it to the mat",
+    "Using the left arm, grasp the rounded tip leather shoe from the table and place it onto the mat",
+    "With the left arm, pick the shoe with lace holes up from the table and put it on the mat",
+    "Use the left arm to pick the dark brown leather shoe and position it on the mat",
+    "Using the left arm, lift the rounded tip leather shoe from the table and place it onto the mat",
+    "Lift the rounded tip leather shoe and place it on the mat",
+    "With the left arm, grab the brown shoe off the table and place it onto the mat",
+    "Lift the dark brown leather shoe from the table and gently place it onto the mat",
+    "Move the smooth leather shoe from the table to the mat",
+    "Take the the brown shoe from the table using the left arm and drop it on the mat",
+    "Take the brown shoe with the left arm and place it carefully on the mat",
+    "Move the medium-sized walking shoe from the table to the mat in one fluid motion",
+    "Take the shoe with grooved bottom and put it on the mat",
+    "Use the left arm to pick up the smooth leather shoe from the table and drop it on the mat",
+    "Use the left arm to grab the brown shoe from the table and move it to the mat"
+  ],
+  "unseen": [
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the left arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Use the left arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the left arm to grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Use the left arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Use the left arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Use the left arm to lift the casual brown shoe and drop it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the left arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Use the left arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the left arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Use the left arm to lift the casual brown shoe and drop it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the left arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Use the left arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Use the left arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Use the left arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the left arm to grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Use the left arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the left arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Use the left arm to lift the casual brown shoe and drop it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the left arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Use the left arm to lift the casual brown shoe and drop it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode62.json b/place_shoe/demo_clean/instructions/episode62.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc1b664159848ff32cd230a80365ddad6121296c
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode62.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium white shoe using the left arm from the table and place it on the mat",
+    "Lift the shoe with patterned bottom from the table and gently place it onto the mat",
+    "Remove the synthetic leather shoe from the table and lay it on the mat",
+    "Pick the white sneaker shoe up from the table and put it on the mat",
+    "Pick the white shoe with rubber sole up from the table and drop it directly on the mat",
+    "Take the smooth white shoe from the table and carefully drop it on the mat",
+    "Use the left arm to lift the shoe with lace holes from the table and set it on the mat",
+    "Take the shoe with lace holes with the left arm and place it carefully on the mat",
+    "Use the left arm to pick the rubber sole shoe off the table and move it onto the mat",
+    "Pick up the shoe with lace holes with the left arm, move it from the table, and set it on the mat",
+    "Lift the shoe with lace holes off the table using the left arm and drop it on the mat",
+    "Lift the white shoe with rubber sole and place it on the mat",
+    "Using the left arm, grasp the medium-sized rounded white shoe from the table and place it onto the mat",
+    "Use the left arm to lift the shoe with textured sole from the table and set it on the mat",
+    "Take the the rubber sole shoe from the table using the left arm and drop it on the mat",
+    "Retrieve the white sneaker shoe from the table and set it on the mat",
+    "Lift the the rubber sole shoe from the table using the left arm and place it on the mat",
+    "Grab the medium white shoe from the table and place it on the mat",
+    "Move the shoe for walking from the table to the mat",
+    "Use the left arm to pick the shoe with lace holes and position it on the mat",
+    "Lift the the medium white shoe from the table and place it onto the mat",
+    "Take the the smooth white shoe off the table and put it on the mat",
+    "Lift the smooth white shoe from the table and place it carefully on the mat",
+    "Pick up the shoe for walking from the table and set it on the mat",
+    "Use the left arm to grab the the shoe with curved sole from the table and set it on the mat",
+    "Pick up the shoe with patterned bottom and move it to the mat",
+    "Pick the the synthetic leather shoe off the table and position it on the mat",
+    "Take the white shoe with rubber sole from the table and position it on the mat",
+    "Grab the white sneaker shoe using the left arm and drop it on the mat",
+    "Use the left arm to lift the the synthetic leather shoe from the table and set it on the mat",
+    "Move the shoe with textured sole from the table to the mat",
+    "Pick the the shoe with textured sole from the table and place it gently on the mat",
+    "Grab the medium-sized rounded white shoe using the left arm, move it from the table to the mat",
+    "Take the white shoe with rubber sole from the table and place it on the mat",
+    "Use the left arm to grab the the white sneaker shoe and put it on the mat",
+    "With the left arm, grab the shoe with lace holes from the table and place it on the mat",
+    "Move the synthetic leather shoe from the table to the mat in one fluid motion",
+    "Grab the the shoe with textured sole on the table and move it to the mat",
+    "Transfer the smooth white shoe from the table to the mat",
+    "Use the left arm to pick up the synthetic leather shoe from the table and drop it on the mat",
+    "Take the rubber sole shoe from the table and put it on the mat",
+    "Grab the white sneaker shoe from the table with the left arm and place it on the mat",
+    "Take the medium white shoe and put it on the mat",
+    "With the left arm, grab the shoe with lace holes off the table and place it onto the mat",
+    "Move the shoe with textured sole from the table and place it down on the mat",
+    "Use the left arm to grab the white shoe with rubber sole from the table and move it to the mat",
+    "Using the left arm, lift the white shoe with rubber sole from the table and place it onto the mat",
+    "Use the left arm to grab the shoe with patterned bottom and transfer it to the mat",
+    "With the left arm, pick the white sneaker shoe up from the table and put it on the mat",
+    "Pick up the medium white shoe with the left arm from the table and place it on the mat",
+    "Lift the shoe with textured sole using the left arm from the table and place it on the mat",
+    "Lift the shoe with textured sole from the table and gently place it onto the mat",
+    "Remove the shoe with curved sole from the table and lay it on the mat",
+    "Pick the white sneaker shoe up from the table and put it on the mat",
+    "Pick the synthetic leather shoe up from the table and drop it directly on the mat",
+    "Take the medium-sized rounded white shoe from the table and carefully drop it on the mat",
+    "Use the left arm to lift the medium white shoe from the table and set it on the mat",
+    "Take the shoe for walking with the left arm and place it carefully on the mat",
+    "Use the left arm to pick the white sneaker shoe off the table and move it onto the mat",
+    "Pick up the shoe with lace holes with the left arm, move it from the table, and set it on the mat",
+    "Lift the smooth white shoe off the table using the left arm and drop it on the mat",
+    "Lift the synthetic leather shoe and place it on the mat",
+    "Using the left arm, grasp the medium white shoe from the table and place it onto the mat",
+    "Use the left arm to lift the shoe for walking from the table and set it on the mat",
+    "Take the the shoe for walking from the table using the left arm and drop it on the mat",
+    "Retrieve the shoe for walking from the table and set it on the mat",
+    "Lift the the shoe with lace holes from the table using the left arm and place it on the mat",
+    "Grab the smooth white shoe from the table and place it on the mat",
+    "Move the medium-sized rounded white shoe from the table to the mat",
+    "Use the left arm to pick the medium white shoe and position it on the mat",
+    "Lift the the rubber sole shoe from the table and place it onto the mat",
+    "Take the the synthetic leather shoe off the table and put it on the mat",
+    "Lift the shoe with textured sole from the table and place it carefully on the mat",
+    "Pick up the shoe with lace holes from the table and set it on the mat",
+    "Use the left arm to grab the the synthetic leather shoe from the table and set it on the mat",
+    "Pick up the synthetic leather shoe and move it to the mat",
+    "Pick the the smooth white shoe off the table and position it on the mat",
+    "Take the medium white shoe from the table and position it on the mat",
+    "Grab the smooth white shoe using the left arm and drop it on the mat",
+    "Use the left arm to lift the the shoe with curved sole from the table and set it on the mat",
+    "Move the shoe with lace holes from the table to the mat",
+    "Pick the the shoe with lace holes from the table and place it gently on the mat",
+    "Grab the rubber sole shoe using the left arm, move it from the table to the mat",
+    "Take the shoe with curved sole from the table and place it on the mat",
+    "Use the left arm to grab the the shoe for walking and put it on the mat",
+    "With the left arm, grab the shoe with curved sole from the table and place it on the mat",
+    "Move the medium-sized rounded white shoe from the table to the mat in one fluid motion",
+    "Grab the the medium white shoe on the table and move it to the mat",
+    "Transfer the shoe with patterned bottom from the table to the mat",
+    "Use the left arm to pick up the medium-sized rounded white shoe from the table and drop it on the mat",
+    "Take the shoe with patterned bottom from the table and put it on the mat",
+    "Grab the shoe with patterned bottom from the table with the left arm and place it on the mat",
+    "Take the synthetic leather shoe and put it on the mat",
+    "With the left arm, grab the shoe with patterned bottom off the table and place it onto the mat",
+    "Move the synthetic leather shoe from the table and place it down on the mat",
+    "Use the left arm to grab the medium-sized rounded white shoe from the table and move it to the mat",
+    "Using the left arm, lift the medium-sized rounded white shoe from the table and place it onto the mat",
+    "Use the left arm to grab the white sneaker shoe and transfer it to the mat",
+    "With the left arm, pick the shoe with curved sole up from the table and put it on the mat",
+    "Pick up the shoe with lace holes with the left arm from the table and place it on the mat"
+  ],
+  "unseen": [
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode63.json b/place_shoe/demo_clean/instructions/episode63.json
new file mode 100644
index 0000000000000000000000000000000000000000..74d92514e1c45092a877321f5f06e11354678924
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode63.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the shoe made of rubber and leather from the table and place it on the mat",
+    "Take the shoe made of rubber and leather from the table and carefully drop it on the mat",
+    "Use the left arm to grab the shoe with smooth top and grippy sole and transfer it to the mat",
+    "Use the left arm to grab the the shoe with curved sole from the table and set it on the mat",
+    "Using the left arm, lift the black and white shoe from the table and place it onto the mat",
+    "Take the rubber-soled shoe with lace-up top from the table and put it on the mat",
+    "Move the dual-tone shoe with sleek design from the table to the mat",
+    "Grab the synthetic leather shoe from the table with the left arm and place it on the mat",
+    "Lift the dual-tone shoe with sleek design from the table and gently place it onto the mat",
+    "Take the the wearable foot protector shoe from the table using the left arm and drop it on the mat",
+    "Lift the dual-tone shoe with sleek design off the table using the left arm and drop it on the mat",
+    "Take the medium-sized black and white shoe and put it on the mat",
+    "Use the left arm to pick the medium-sized black and white shoe and position it on the mat",
+    "Use the left arm to grab the wearable foot protector shoe from the table and move it to the mat",
+    "Take the shoe with smooth top and grippy sole from the table and position it on the mat",
+    "Pick up the dual-tone shoe with sleek design with the left arm from the table and place it on the mat",
+    "Pick the the shoe with curved sole off the table and position it on the mat",
+    "Pick the black and white shoe up from the table and put it on the mat",
+    "Pick up the rubber-soled shoe with lace-up top from the table and set it on the mat",
+    "With the left arm, grab the wearable foot protector shoe from the table and place it on the mat",
+    "Pick the the shoe made of rubber and leather from the table and place it gently on the mat",
+    "Lift the average adult-sized shoe from the table and place it carefully on the mat",
+    "Lift the average adult-sized shoe and place it on the mat",
+    "Lift the the dual-tone shoe with sleek design from the table and place it onto the mat",
+    "With the left arm, pick the comfortable shoe for walking up from the table and put it on the mat",
+    "Grab the the dual-tone shoe with sleek design on the table and move it to the mat",
+    "Grab the comfortable shoe for walking using the left arm, move it from the table to the mat",
+    "Take the the black and white shoe off the table and put it on the mat",
+    "Lift the the wearable foot protector shoe from the table using the left arm and place it on the mat",
+    "Transfer the comfortable shoe for walking from the table to the mat",
+    "Use the left arm to lift the the black shoe with white accents from the table and set it on the mat",
+    "Use the left arm to pick the black and white shoe off the table and move it onto the mat",
+    "Pick up the shoe with smooth top and grippy sole with the left arm, move it from the table, and set it on the mat",
+    "Take the synthetic leather shoe from the table and place it on the mat",
+    "Move the synthetic leather shoe from the table to the mat in one fluid motion",
+    "Move the comfortable shoe for walking from the table to the mat",
+    "With the left arm, grab the black shoe with white accents off the table and place it onto the mat",
+    "Grab the dual-tone shoe with sleek design using the left arm and drop it on the mat",
+    "Lift the shoe with smooth top and grippy sole using the left arm from the table and place it on the mat",
+    "Move the rubber-soled shoe with lace-up top from the table and place it down on the mat",
+    "Remove the medium-sized black and white shoe from the table and lay it on the mat",
+    "Using the left arm, grasp the shoe with smooth top and grippy sole from the table and place it onto the mat",
+    "Use the left arm to grab the the rubber-soled shoe with lace-up top and put it on the mat",
+    "Use the left arm to pick up the rubber-soled shoe with lace-up top from the table and drop it on the mat",
+    "Retrieve the comfortable shoe for walking from the table and set it on the mat",
+    "Use the left arm to lift the medium-sized black and white shoe from the table and set it on the mat",
+    "Take the synthetic leather shoe with the left arm and place it carefully on the mat",
+    "Pick up the shoe with smooth top and grippy sole and move it to the mat",
+    "Pick the average adult-sized shoe up from the table and drop it directly on the mat",
+    "Use the left arm to lift the black and white shoe from the table and set it on the mat",
+    "Grab the synthetic leather shoe from the table and place it on the mat",
+    "Take the average adult-sized shoe from the table and carefully drop it on the mat",
+    "Use the left arm to grab the dual-tone shoe with sleek design and transfer it to the mat",
+    "Use the left arm to grab the the black and white shoe from the table and set it on the mat",
+    "Using the left arm, lift the synthetic leather shoe from the table and place it onto the mat",
+    "Take the average adult-sized shoe from the table and put it on the mat",
+    "Move the black shoe with white accents from the table to the mat",
+    "Grab the synthetic leather shoe from the table with the left arm and place it on the mat",
+    "Lift the comfortable shoe for walking from the table and gently place it onto the mat",
+    "Take the the comfortable shoe for walking from the table using the left arm and drop it on the mat",
+    "Lift the wearable foot protector shoe off the table using the left arm and drop it on the mat",
+    "Take the dual-tone shoe with sleek design and put it on the mat",
+    "Use the left arm to pick the black shoe with white accents and position it on the mat",
+    "Use the left arm to grab the black and white shoe from the table and move it to the mat",
+    "Take the shoe with curved sole from the table and position it on the mat",
+    "Pick up the shoe with curved sole with the left arm from the table and place it on the mat",
+    "Pick the the dual-tone shoe with sleek design off the table and position it on the mat",
+    "Pick the shoe with smooth top and grippy sole up from the table and put it on the mat",
+    "Pick up the black and white shoe from the table and set it on the mat",
+    "With the left arm, grab the medium-sized black and white shoe from the table and place it on the mat",
+    "Pick the the comfortable shoe for walking from the table and place it gently on the mat",
+    "Lift the black and white shoe from the table and place it carefully on the mat",
+    "Lift the dual-tone shoe with sleek design and place it on the mat",
+    "Lift the the black shoe with white accents from the table and place it onto the mat",
+    "With the left arm, pick the shoe made of rubber and leather up from the table and put it on the mat",
+    "Grab the the shoe with curved sole on the table and move it to the mat",
+    "Grab the dual-tone shoe with sleek design using the left arm, move it from the table to the mat",
+    "Take the the shoe with curved sole off the table and put it on the mat",
+    "Lift the the black shoe with white accents from the table using the left arm and place it on the mat",
+    "Transfer the medium-sized black and white shoe from the table to the mat",
+    "Use the left arm to lift the the black and white shoe from the table and set it on the mat",
+    "Use the left arm to pick the black and white shoe off the table and move it onto the mat",
+    "Pick up the black shoe with white accents with the left arm, move it from the table, and set it on the mat",
+    "Take the rubber-soled shoe with lace-up top from the table and place it on the mat",
+    "Move the wearable foot protector shoe from the table to the mat in one fluid motion",
+    "Move the black and white shoe from the table to the mat",
+    "With the left arm, grab the dual-tone shoe with sleek design off the table and place it onto the mat",
+    "Grab the average adult-sized shoe using the left arm and drop it on the mat",
+    "Lift the average adult-sized shoe using the left arm from the table and place it on the mat",
+    "Move the average adult-sized shoe from the table and place it down on the mat",
+    "Remove the black and white shoe from the table and lay it on the mat",
+    "Using the left arm, grasp the shoe with smooth top and grippy sole from the table and place it onto the mat",
+    "Use the left arm to grab the the medium-sized black and white shoe and put it on the mat",
+    "Use the left arm to pick up the synthetic leather shoe from the table and drop it on the mat",
+    "Retrieve the shoe made of rubber and leather from the table and set it on the mat",
+    "Use the left arm to lift the dual-tone shoe with sleek design from the table and set it on the mat",
+    "Take the comfortable shoe for walking with the left arm and place it carefully on the mat",
+    "Pick up the medium-sized black and white shoe and move it to the mat",
+    "Pick the shoe with curved sole up from the table and drop it directly on the mat",
+    "Use the left arm to lift the comfortable shoe for walking from the table and set it on the mat"
+  ],
+  "unseen": [
+    "Use the left arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Use the left arm to lift the black shoe with white midsole and drop it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the left arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Use the left arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the left arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Use the left arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the left arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Use the left arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the left arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Use the left arm to lift the black shoe with white midsole and drop it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the left arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Use the left arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the left arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Use the left arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the left arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Use the left arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the left arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Use the left arm to lift the black shoe with white midsole and drop it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the left arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Use the left arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode64.json b/place_shoe/demo_clean/instructions/episode64.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e0088ff36e3b83fc489a5a7bac1d4036f61015e
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode64.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the the shoe with lace-up front from the table and place it gently on the mat",
+    "Use the left arm to grab the the sleek white walking shoe and put it on the mat",
+    "Take the the white shoe off the table and put it on the mat",
+    "Grab the the medium-sized casual shoe on the table and move it to the mat",
+    "Pick the the soft rubber-soled white shoe off the table and position it on the mat",
+    "Retrieve the synthetic leather white shoe from the table and set it on the mat",
+    "Use the left arm to grab the soft rubber-soled white shoe and transfer it to the mat",
+    "Take the sleek white walking shoe with the left arm and place it carefully on the mat",
+    "Use the left arm to lift the shoe with black back detail from the table and set it on the mat",
+    "Move the white shoe with rounded toe from the table to the mat",
+    "Lift the the soft rubber-soled white shoe from the table using the left arm and place it on the mat",
+    "Move the shoe with black back detail from the table to the mat in one fluid motion",
+    "Lift the white and black combination shoe from the table and gently place it onto the mat",
+    "Use the left arm to pick the shoe with lace-up front off the table and move it onto the mat",
+    "Lift the shoe for everyday walking using the left arm from the table and place it on the mat",
+    "With the left arm, grab the synthetic leather white shoe from the table and place it on the mat",
+    "Pick up the medium-sized casual shoe with the left arm, move it from the table, and set it on the mat",
+    "Take the synthetic leather white shoe from the table and carefully drop it on the mat",
+    "Move the soft rubber-soled white shoe from the table and place it down on the mat",
+    "Use the left arm to pick up the medium-sized casual shoe from the table and drop it on the mat",
+    "Grab the shoe for everyday walking using the left arm and drop it on the mat",
+    "Lift the shoe with black heel patch from the table and place it carefully on the mat",
+    "Use the left arm to lift the shoe with lace-up front from the table and set it on the mat",
+    "With the left arm, pick the shoe with black back detail up from the table and put it on the mat",
+    "Take the medium-sized casual shoe and put it on the mat",
+    "Transfer the white shoe with curved sole from the table to the mat",
+    "Lift the white shoe with rounded toe and place it on the mat",
+    "Lift the the synthetic leather white shoe from the table and place it onto the mat",
+    "Using the left arm, grasp the white and black combination shoe from the table and place it onto the mat",
+    "Grab the sleek white walking shoe using the left arm, move it from the table to the mat",
+    "Use the left arm to lift the the white shoe with rounded toe from the table and set it on the mat",
+    "Take the the shoe with lace-up front from the table using the left arm and drop it on the mat",
+    "Pick up the soft rubber-soled white shoe from the table and set it on the mat",
+    "Pick up the soft rubber-soled white shoe with the left arm from the table and place it on the mat",
+    "Take the white and black combination shoe from the table and place it on the mat",
+    "Take the soft rubber-soled white shoe from the table and put it on the mat",
+    "Remove the medium-sized casual shoe from the table and lay it on the mat",
+    "Grab the white shoe with rounded toe from the table and place it on the mat",
+    "Lift the white and black combination shoe off the table using the left arm and drop it on the mat",
+    "Grab the sleek white walking shoe from the table with the left arm and place it on the mat",
+    "Take the shoe for everyday walking from the table and position it on the mat",
+    "Move the shoe for everyday walking from the table to the mat",
+    "Using the left arm, lift the white shoe with rounded toe from the table and place it onto the mat",
+    "Pick the white shoe with curved sole up from the table and drop it directly on the mat",
+    "With the left arm, grab the shoe for everyday walking off the table and place it onto the mat",
+    "Use the left arm to grab the the shoe for everyday walking from the table and set it on the mat",
+    "Pick up the white and black combination shoe and move it to the mat",
+    "Use the left arm to pick the synthetic leather white shoe and position it on the mat",
+    "Pick the shoe with lace-up front up from the table and put it on the mat",
+    "Use the left arm to grab the synthetic leather white shoe from the table and move it to the mat",
+    "Pick the the white shoe with curved sole from the table and place it gently on the mat",
+    "Use the left arm to grab the the shoe with black heel patch and put it on the mat",
+    "Take the the white shoe with curved sole off the table and put it on the mat",
+    "Grab the the white shoe on the table and move it to the mat",
+    "Pick the the shoe with lace-up front off the table and position it on the mat",
+    "Retrieve the white shoe with rounded toe from the table and set it on the mat",
+    "Use the left arm to grab the white and black combination shoe and transfer it to the mat",
+    "Take the medium-sized casual shoe with the left arm and place it carefully on the mat",
+    "Use the left arm to lift the shoe for everyday walking from the table and set it on the mat",
+    "Move the white and black combination shoe from the table to the mat",
+    "Lift the the shoe with lace-up front from the table using the left arm and place it on the mat",
+    "Move the soft rubber-soled white shoe from the table to the mat in one fluid motion",
+    "Lift the white shoe from the table and gently place it onto the mat",
+    "Use the left arm to pick the white and black combination shoe off the table and move it onto the mat",
+    "Lift the soft rubber-soled white shoe using the left arm from the table and place it on the mat",
+    "With the left arm, grab the shoe with lace-up front from the table and place it on the mat",
+    "Pick up the soft rubber-soled white shoe with the left arm, move it from the table, and set it on the mat",
+    "Take the soft rubber-soled white shoe from the table and carefully drop it on the mat",
+    "Move the synthetic leather white shoe from the table and place it down on the mat",
+    "Use the left arm to pick up the medium-sized casual shoe from the table and drop it on the mat",
+    "Grab the white shoe using the left arm and drop it on the mat",
+    "Lift the medium-sized casual shoe from the table and place it carefully on the mat",
+    "Use the left arm to lift the shoe for everyday walking from the table and set it on the mat",
+    "With the left arm, pick the white shoe up from the table and put it on the mat",
+    "Take the shoe with lace-up front and put it on the mat",
+    "Transfer the white shoe from the table to the mat",
+    "Lift the white shoe with curved sole and place it on the mat",
+    "Lift the the shoe with lace-up front from the table and place it onto the mat",
+    "Using the left arm, grasp the sleek white walking shoe from the table and place it onto the mat",
+    "Grab the shoe for everyday walking using the left arm, move it from the table to the mat",
+    "Use the left arm to lift the the sleek white walking shoe from the table and set it on the mat",
+    "Take the the white and black combination shoe from the table using the left arm and drop it on the mat",
+    "Pick up the shoe for everyday walking from the table and set it on the mat",
+    "Pick up the soft rubber-soled white shoe with the left arm from the table and place it on the mat",
+    "Take the shoe with black heel patch from the table and place it on the mat",
+    "Take the synthetic leather white shoe from the table and put it on the mat",
+    "Remove the shoe with black heel patch from the table and lay it on the mat",
+    "Grab the shoe with lace-up front from the table and place it on the mat",
+    "Lift the white and black combination shoe off the table using the left arm and drop it on the mat",
+    "Grab the white and black combination shoe from the table with the left arm and place it on the mat",
+    "Take the synthetic leather white shoe from the table and position it on the mat",
+    "Move the shoe with black back detail from the table to the mat",
+    "Using the left arm, lift the shoe with lace-up front from the table and place it onto the mat",
+    "Pick the white and black combination shoe up from the table and drop it directly on the mat",
+    "With the left arm, grab the sleek white walking shoe off the table and place it onto the mat",
+    "Use the left arm to grab the the white shoe with curved sole from the table and set it on the mat",
+    "Pick up the shoe with black back detail and move it to the mat",
+    "Use the left arm to pick the white shoe with curved sole and position it on the mat",
+    "Pick the medium-sized casual shoe up from the table and put it on the mat",
+    "Use the left arm to grab the white shoe with rounded toe from the table and move it to the mat"
+  ],
+  "unseen": [
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode65.json b/place_shoe/demo_clean/instructions/episode65.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b6fd43425b6d847907e213458023b4b03290344
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode65.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the smooth leather shoe from the table to the mat",
+    "Pick up the dark brown leather shoe with the right arm from the table and place it on the mat",
+    "Using the right arm, grasp the dark shoe with grooves on sole from the table and place it onto the mat",
+    "Use the right arm to pick up the shoe for everyday wear from the table and drop it on the mat",
+    "Lift the the dark brown leather shoe from the table using the right arm and place it on the mat",
+    "Take the the dark brown leather shoe from the table using the right arm and drop it on the mat",
+    "Use the right arm to pick the shoe with lace holes and position it on the mat",
+    "Using the right arm, lift the rounded tip leather shoe from the table and place it onto the mat",
+    "Use the right arm to grab the dark shoe with grooves on sole and transfer it to the mat",
+    "With the right arm, pick the medium-sized walking shoe up from the table and put it on the mat",
+    "Take the dark shoe with grooves on sole from the table and position it on the mat",
+    "Pick up the shoe with thick rubber sole and move it to the mat",
+    "Grab the shoe with lace holes from the table with the right arm and place it on the mat",
+    "Use the right arm to grab the shoe with grooved bottom from the table and move it to the mat",
+    "Grab the the smooth leather shoe on the table and move it to the mat",
+    "Move the dark brown leather shoe from the table to the mat in one fluid motion",
+    "Use the right arm to lift the the shoe with lace holes from the table and set it on the mat",
+    "Retrieve the medium-sized walking shoe from the table and set it on the mat",
+    "Pick up the shoe with grooved bottom from the table and set it on the mat",
+    "Lift the rounded tip leather shoe from the table and place it carefully on the mat",
+    "Use the right arm to grab the the dark brown leather shoe and put it on the mat",
+    "Lift the shoe with thick rubber sole from the table and gently place it onto the mat",
+    "With the right arm, grab the smooth leather shoe from the table and place it on the mat",
+    "Pick the the medium-sized walking shoe from the table and place it gently on the mat",
+    "Grab the shoe for everyday wear using the right arm and drop it on the mat",
+    "Use the right arm to pick the rounded tip leather shoe off the table and move it onto the mat",
+    "Pick the dark shoe with grooves on sole up from the table and drop it directly on the mat",
+    "Move the medium-sized walking shoe from the table to the mat",
+    "Take the shoe with lace holes from the table and carefully drop it on the mat",
+    "Take the the medium-sized walking shoe off the table and put it on the mat",
+    "With the right arm, grab the shoe with lace holes off the table and place it onto the mat",
+    "Take the shoe for everyday wear from the table and place it on the mat",
+    "Lift the medium-sized walking shoe using the right arm from the table and place it on the mat",
+    "Grab the shoe with grooved bottom using the right arm, move it from the table to the mat",
+    "Pick up the shoe for walking with rubber grip with the right arm, move it from the table, and set it on the mat",
+    "Take the smooth leather shoe with the right arm and place it carefully on the mat",
+    "Transfer the medium-sized walking shoe from the table to the mat",
+    "Take the smooth leather shoe from the table and put it on the mat",
+    "Move the dark brown leather shoe from the table and place it down on the mat",
+    "Use the right arm to grab the the shoe with thick rubber sole from the table and set it on the mat",
+    "Lift the the shoe with thick rubber sole from the table and place it onto the mat",
+    "Pick the dark brown leather shoe up from the table and put it on the mat",
+    "Use the right arm to lift the dark shoe with grooves on sole from the table and set it on the mat",
+    "Take the rounded front shoe and put it on the mat",
+    "Pick the the shoe for everyday wear off the table and position it on the mat",
+    "Use the right arm to lift the smooth leather shoe from the table and set it on the mat",
+    "Lift the dark shoe with grooves on sole off the table using the right arm and drop it on the mat",
+    "Remove the dark brown leather shoe from the table and lay it on the mat",
+    "Grab the shoe with thick rubber sole from the table and place it on the mat",
+    "Lift the smooth leather shoe and place it on the mat",
+    "Move the medium-sized walking shoe from the table to the mat",
+    "Pick up the shoe with grooved bottom with the right arm from the table and place it on the mat",
+    "Using the right arm, grasp the shoe with thick rubber sole from the table and place it onto the mat",
+    "Use the right arm to pick up the rounded front shoe from the table and drop it on the mat",
+    "Lift the the shoe for walking with rubber grip from the table using the right arm and place it on the mat",
+    "Take the the dark brown leather shoe from the table using the right arm and drop it on the mat",
+    "Use the right arm to pick the shoe with thick rubber sole and position it on the mat",
+    "Using the right arm, lift the smooth leather shoe from the table and place it onto the mat",
+    "Use the right arm to grab the rounded tip leather shoe and transfer it to the mat",
+    "With the right arm, pick the brown shoe up from the table and put it on the mat",
+    "Take the shoe with grooved bottom from the table and position it on the mat",
+    "Pick up the rounded tip leather shoe and move it to the mat",
+    "Grab the shoe for walking with rubber grip from the table with the right arm and place it on the mat",
+    "Use the right arm to grab the dark shoe with grooves on sole from the table and move it to the mat",
+    "Grab the the medium-sized walking shoe on the table and move it to the mat",
+    "Move the shoe for walking with rubber grip from the table to the mat in one fluid motion",
+    "Use the right arm to lift the the shoe with grooved bottom from the table and set it on the mat",
+    "Retrieve the shoe with grooved bottom from the table and set it on the mat",
+    "Pick up the rounded front shoe from the table and set it on the mat",
+    "Lift the shoe for everyday wear from the table and place it carefully on the mat",
+    "Use the right arm to grab the the brown shoe and put it on the mat",
+    "Lift the medium-sized walking shoe from the table and gently place it onto the mat",
+    "With the right arm, grab the shoe with lace holes from the table and place it on the mat",
+    "Pick the the rounded front shoe from the table and place it gently on the mat",
+    "Grab the rounded tip leather shoe using the right arm and drop it on the mat",
+    "Use the right arm to pick the shoe with grooved bottom off the table and move it onto the mat",
+    "Pick the dark brown leather shoe up from the table and drop it directly on the mat",
+    "Move the shoe with lace holes from the table to the mat",
+    "Take the shoe with lace holes from the table and carefully drop it on the mat",
+    "Take the the smooth leather shoe off the table and put it on the mat",
+    "With the right arm, grab the rounded tip leather shoe off the table and place it onto the mat",
+    "Take the shoe with thick rubber sole from the table and place it on the mat",
+    "Lift the rounded front shoe using the right arm from the table and place it on the mat",
+    "Grab the rounded front shoe using the right arm, move it from the table to the mat",
+    "Pick up the shoe with grooved bottom with the right arm, move it from the table, and set it on the mat",
+    "Take the dark shoe with grooves on sole with the right arm and place it carefully on the mat",
+    "Transfer the shoe for everyday wear from the table to the mat",
+    "Take the shoe with thick rubber sole from the table and put it on the mat",
+    "Move the rounded front shoe from the table and place it down on the mat",
+    "Use the right arm to grab the the dark shoe with grooves on sole from the table and set it on the mat",
+    "Lift the the medium-sized walking shoe from the table and place it onto the mat",
+    "Pick the smooth leather shoe up from the table and put it on the mat",
+    "Use the right arm to lift the rounded tip leather shoe from the table and set it on the mat",
+    "Take the rounded tip leather shoe and put it on the mat",
+    "Pick the the rounded front shoe off the table and position it on the mat",
+    "Use the right arm to lift the shoe with thick rubber sole from the table and set it on the mat",
+    "Lift the shoe for everyday wear off the table using the right arm and drop it on the mat",
+    "Remove the rounded tip leather shoe from the table and lay it on the mat",
+    "Grab the shoe with lace holes from the table and place it on the mat",
+    "Lift the shoe with lace holes and place it on the mat"
+  ],
+  "unseen": [
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it down on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the right arm to grab the casual brown shoe from the table and place it on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to lift the casual brown shoe and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the right arm to grab the brown footwear with smooth texture from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode66.json b/place_shoe/demo_clean/instructions/episode66.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a671322413ace6becd74e91a0d06d55f12c1f73
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode66.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the white shoe with rubber sole from the table and place it carefully on the mat",
+    "Move the rubber sole shoe from the table and place it down on the mat",
+    "Grab the the shoe with patterned bottom on the table and move it to the mat",
+    "Use the right arm to grab the the white sneaker shoe and put it on the mat",
+    "With the right arm, grab the shoe with lace holes off the table and place it onto the mat",
+    "Transfer the shoe with curved sole from the table to the mat",
+    "Grab the shoe for walking using the right arm, move it from the table to the mat",
+    "Lift the white shoe with rubber sole and place it on the mat",
+    "Use the right arm to pick up the shoe with patterned bottom from the table and drop it on the mat",
+    "Take the shoe with lace holes from the table and carefully drop it on the mat",
+    "Use the right arm to pick the medium-sized rounded white shoe and position it on the mat",
+    "Use the right arm to lift the the shoe with lace holes from the table and set it on the mat",
+    "Use the right arm to lift the shoe for walking from the table and set it on the mat",
+    "With the right arm, pick the white shoe with rubber sole up from the table and put it on the mat",
+    "Using the right arm, lift the shoe with patterned bottom from the table and place it onto the mat",
+    "Lift the the shoe for walking from the table and place it onto the mat",
+    "Grab the smooth white shoe from the table and place it on the mat",
+    "Pick the shoe with curved sole up from the table and drop it directly on the mat",
+    "Move the shoe with patterned bottom from the table to the mat in one fluid motion",
+    "Use the right arm to lift the smooth white shoe from the table and set it on the mat",
+    "Move the medium-sized rounded white shoe from the table to the mat",
+    "Use the right arm to grab the the shoe with lace holes from the table and set it on the mat",
+    "Pick the the medium-sized rounded white shoe from the table and place it gently on the mat",
+    "Lift the shoe with textured sole using the right arm from the table and place it on the mat",
+    "Retrieve the shoe with textured sole from the table and set it on the mat",
+    "Lift the rubber sole shoe off the table using the right arm and drop it on the mat",
+    "Take the shoe with lace holes from the table and put it on the mat",
+    "Grab the shoe with curved sole using the right arm and drop it on the mat",
+    "Take the the medium white shoe off the table and put it on the mat",
+    "Pick the shoe with textured sole up from the table and put it on the mat",
+    "Move the white sneaker shoe from the table to the mat",
+    "Take the white shoe with rubber sole from the table and place it on the mat",
+    "Remove the shoe with lace holes from the table and lay it on the mat",
+    "Lift the shoe with textured sole from the table and gently place it onto the mat",
+    "Lift the the medium-sized rounded white shoe from the table using the right arm and place it on the mat",
+    "Use the right arm to pick the shoe for walking off the table and move it onto the mat",
+    "Grab the shoe with patterned bottom from the table with the right arm and place it on the mat",
+    "Take the shoe with patterned bottom with the right arm and place it carefully on the mat",
+    "Pick the the shoe for walking off the table and position it on the mat",
+    "Use the right arm to grab the white shoe with rubber sole and transfer it to the mat",
+    "Take the white shoe with rubber sole from the table and position it on the mat",
+    "Pick up the rubber sole shoe from the table and set it on the mat",
+    "Take the shoe for walking and put it on the mat",
+    "Using the right arm, grasp the shoe with patterned bottom from the table and place it onto the mat",
+    "Pick up the rubber sole shoe with the right arm from the table and place it on the mat",
+    "Pick up the rubber sole shoe and move it to the mat",
+    "Pick up the shoe with patterned bottom with the right arm, move it from the table, and set it on the mat",
+    "With the right arm, grab the synthetic leather shoe from the table and place it on the mat",
+    "Use the right arm to grab the shoe with patterned bottom from the table and move it to the mat",
+    "Take the the medium white shoe from the table using the right arm and drop it on the mat",
+    "Lift the shoe with patterned bottom from the table and place it carefully on the mat",
+    "Move the smooth white shoe from the table and place it down on the mat",
+    "Grab the the synthetic leather shoe on the table and move it to the mat",
+    "Use the right arm to grab the the synthetic leather shoe and put it on the mat",
+    "With the right arm, grab the medium white shoe off the table and place it onto the mat",
+    "Transfer the rubber sole shoe from the table to the mat",
+    "Grab the shoe with lace holes using the right arm, move it from the table to the mat",
+    "Lift the shoe with textured sole and place it on the mat",
+    "Use the right arm to pick up the shoe with textured sole from the table and drop it on the mat",
+    "Take the shoe with lace holes from the table and carefully drop it on the mat",
+    "Use the right arm to pick the shoe for walking and position it on the mat",
+    "Use the right arm to lift the the white sneaker shoe from the table and set it on the mat",
+    "Use the right arm to lift the synthetic leather shoe from the table and set it on the mat",
+    "With the right arm, pick the medium-sized rounded white shoe up from the table and put it on the mat",
+    "Using the right arm, lift the white shoe with rubber sole from the table and place it onto the mat",
+    "Lift the the shoe with curved sole from the table and place it onto the mat",
+    "Grab the medium-sized rounded white shoe from the table and place it on the mat",
+    "Pick the synthetic leather shoe up from the table and drop it directly on the mat",
+    "Move the white shoe with rubber sole from the table to the mat in one fluid motion",
+    "Use the right arm to lift the shoe with curved sole from the table and set it on the mat",
+    "Move the rubber sole shoe from the table to the mat",
+    "Use the right arm to grab the the shoe with textured sole from the table and set it on the mat",
+    "Pick the the medium white shoe from the table and place it gently on the mat",
+    "Lift the shoe with textured sole using the right arm from the table and place it on the mat",
+    "Retrieve the shoe with textured sole from the table and set it on the mat",
+    "Lift the shoe with textured sole off the table using the right arm and drop it on the mat",
+    "Take the white shoe with rubber sole from the table and put it on the mat",
+    "Grab the white shoe with rubber sole using the right arm and drop it on the mat",
+    "Take the the shoe with lace holes off the table and put it on the mat",
+    "Pick the shoe with curved sole up from the table and put it on the mat",
+    "Move the shoe with lace holes from the table to the mat",
+    "Take the shoe for walking from the table and place it on the mat",
+    "Remove the synthetic leather shoe from the table and lay it on the mat",
+    "Lift the shoe for walking from the table and gently place it onto the mat",
+    "Lift the the shoe with lace holes from the table using the right arm and place it on the mat",
+    "Use the right arm to pick the shoe with curved sole off the table and move it onto the mat",
+    "Grab the medium white shoe from the table with the right arm and place it on the mat",
+    "Take the medium white shoe with the right arm and place it carefully on the mat",
+    "Pick the the shoe with textured sole off the table and position it on the mat",
+    "Use the right arm to grab the shoe with textured sole and transfer it to the mat",
+    "Take the synthetic leather shoe from the table and position it on the mat",
+    "Pick up the medium white shoe from the table and set it on the mat",
+    "Take the shoe with lace holes and put it on the mat",
+    "Using the right arm, grasp the medium white shoe from the table and place it onto the mat",
+    "Pick up the medium-sized rounded white shoe with the right arm from the table and place it on the mat",
+    "Pick up the medium-sized rounded white shoe and move it to the mat",
+    "Pick up the rubber sole shoe with the right arm, move it from the table, and set it on the mat",
+    "With the right arm, grab the white shoe with rubber sole from the table and place it on the mat",
+    "Use the right arm to grab the shoe with patterned bottom from the table and move it to the mat",
+    "Take the the medium-sized rounded white shoe from the table using the right arm and drop it on the mat"
+  ],
+  "unseen": [
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode67.json b/place_shoe/demo_clean/instructions/episode67.json
new file mode 100644
index 0000000000000000000000000000000000000000..385d99345ef5a47b5c401ac4c5d58278a6a1ba53
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode67.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick the shoe with lace-up front and position it on the mat",
+    "Take the sleek white walking shoe with the left arm and place it carefully on the mat",
+    "Pick the the sleek white walking shoe from the table and place it gently on the mat",
+    "Grab the the white shoe with rounded toe on the table and move it to the mat",
+    "Take the medium-sized casual shoe from the table and carefully drop it on the mat",
+    "Pick the the shoe with lace-up front off the table and position it on the mat",
+    "With the left arm, grab the shoe with black heel patch from the table and place it on the mat",
+    "Take the the medium-sized casual shoe from the table using the left arm and drop it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Move the white shoe with rounded toe from the table and place it down on the mat",
+    "Using the left arm, lift the white shoe with rounded toe from the table and place it onto the mat",
+    "Using the left arm, grasp the soft rubber-soled white shoe from the table and place it onto the mat",
+    "Grab the medium-sized casual shoe using the left arm and drop it on the mat",
+    "Pick the synthetic leather white shoe up from the table and drop it directly on the mat",
+    "With the left arm, pick the sleek white walking shoe up from the table and put it on the mat",
+    "Use the left arm to grab the the shoe with lace-up front from the table and set it on the mat",
+    "Pick up the white shoe with curved sole from the table and set it on the mat",
+    "Lift the medium-sized casual shoe from the table and gently place it onto the mat",
+    "Pick up the sleek white walking shoe with the left arm from the table and place it on the mat",
+    "Pick up the white shoe with the left arm, move it from the table, and set it on the mat",
+    "Lift the white shoe with curved sole off the table using the left arm and drop it on the mat",
+    "Move the white shoe with curved sole from the table to the mat",
+    "Take the white shoe with rounded toe and put it on the mat",
+    "Grab the shoe with black heel patch from the table with the left arm and place it on the mat",
+    "Lift the shoe with lace-up front from the table and place it carefully on the mat",
+    "Retrieve the white shoe with curved sole from the table and set it on the mat",
+    "Use the left arm to pick the white shoe off the table and move it onto the mat",
+    "Lift the white shoe with curved sole and place it on the mat",
+    "Use the left arm to lift the shoe for everyday walking from the table and set it on the mat",
+    "Pick up the shoe with lace-up front and move it to the mat",
+    "Lift the the shoe with black heel patch from the table using the left arm and place it on the mat",
+    "Grab the white and black combination shoe using the left arm, move it from the table to the mat",
+    "Lift the shoe with black heel patch using the left arm from the table and place it on the mat",
+    "Transfer the sleek white walking shoe from the table to the mat",
+    "Pick the soft rubber-soled white shoe up from the table and put it on the mat",
+    "Move the soft rubber-soled white shoe from the table to the mat in one fluid motion",
+    "Use the left arm to lift the shoe with lace-up front from the table and set it on the mat",
+    "Take the the sleek white walking shoe off the table and put it on the mat",
+    "Lift the the white shoe with curved sole from the table and place it onto the mat",
+    "Take the white shoe with curved sole from the table and position it on the mat",
+    "Use the left arm to grab the the white and black combination shoe and put it on the mat",
+    "Take the medium-sized casual shoe from the table and place it on the mat",
+    "Use the left arm to grab the soft rubber-soled white shoe from the table and move it to the mat",
+    "With the left arm, grab the shoe with lace-up front off the table and place it onto the mat",
+    "Remove the white and black combination shoe from the table and lay it on the mat",
+    "Take the white and black combination shoe from the table and put it on the mat",
+    "Use the left arm to pick up the synthetic leather white shoe from the table and drop it on the mat",
+    "Use the left arm to lift the the soft rubber-soled white shoe from the table and set it on the mat",
+    "Move the synthetic leather white shoe from the table to the mat",
+    "Use the left arm to grab the synthetic leather white shoe and transfer it to the mat",
+    "Use the left arm to pick the sleek white walking shoe and position it on the mat",
+    "Take the soft rubber-soled white shoe with the left arm and place it carefully on the mat",
+    "Pick the the shoe with lace-up front from the table and place it gently on the mat",
+    "Grab the the white shoe with rounded toe on the table and move it to the mat",
+    "Take the soft rubber-soled white shoe from the table and carefully drop it on the mat",
+    "Pick the the sleek white walking shoe off the table and position it on the mat",
+    "With the left arm, grab the white shoe from the table and place it on the mat",
+    "Take the the soft rubber-soled white shoe from the table using the left arm and drop it on the mat",
+    "Grab the synthetic leather white shoe from the table and place it on the mat",
+    "Move the white shoe from the table and place it down on the mat",
+    "Using the left arm, lift the shoe with black back detail from the table and place it onto the mat",
+    "Using the left arm, grasp the shoe with black back detail from the table and place it onto the mat",
+    "Grab the shoe with black heel patch using the left arm and drop it on the mat",
+    "Pick the shoe for everyday walking up from the table and drop it directly on the mat",
+    "With the left arm, pick the white shoe with rounded toe up from the table and put it on the mat",
+    "Use the left arm to grab the the shoe with black heel patch from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Lift the shoe for everyday walking from the table and gently place it onto the mat",
+    "Pick up the white shoe with curved sole with the left arm from the table and place it on the mat",
+    "Pick up the white shoe with rounded toe with the left arm, move it from the table, and set it on the mat",
+    "Lift the medium-sized casual shoe off the table using the left arm and drop it on the mat",
+    "Move the shoe for everyday walking from the table to the mat",
+    "Take the white and black combination shoe and put it on the mat",
+    "Grab the white shoe from the table with the left arm and place it on the mat",
+    "Lift the white shoe from the table and place it carefully on the mat",
+    "Retrieve the white shoe from the table and set it on the mat",
+    "Use the left arm to pick the white shoe off the table and move it onto the mat",
+    "Lift the white and black combination shoe and place it on the mat",
+    "Use the left arm to lift the white and black combination shoe from the table and set it on the mat",
+    "Pick up the shoe with lace-up front and move it to the mat",
+    "Lift the the shoe for everyday walking from the table using the left arm and place it on the mat",
+    "Grab the sleek white walking shoe using the left arm, move it from the table to the mat",
+    "Lift the shoe with black back detail using the left arm from the table and place it on the mat",
+    "Transfer the shoe with black back detail from the table to the mat",
+    "Pick the white shoe with curved sole up from the table and put it on the mat",
+    "Move the shoe with black heel patch from the table to the mat in one fluid motion",
+    "Use the left arm to lift the sleek white walking shoe from the table and set it on the mat",
+    "Take the the medium-sized casual shoe off the table and put it on the mat",
+    "Lift the the soft rubber-soled white shoe from the table and place it onto the mat",
+    "Take the shoe with black heel patch from the table and position it on the mat",
+    "Use the left arm to grab the the soft rubber-soled white shoe and put it on the mat",
+    "Take the medium-sized casual shoe from the table and place it on the mat",
+    "Use the left arm to grab the soft rubber-soled white shoe from the table and move it to the mat",
+    "With the left arm, grab the white shoe with rounded toe off the table and place it onto the mat",
+    "Remove the sleek white walking shoe from the table and lay it on the mat",
+    "Take the shoe with black heel patch from the table and put it on the mat",
+    "Use the left arm to pick up the shoe for everyday walking from the table and drop it on the mat",
+    "Use the left arm to lift the the white shoe with rounded toe from the table and set it on the mat",
+    "Move the sleek white walking shoe from the table to the mat",
+    "Use the left arm to grab the shoe with black back detail and transfer it to the mat"
+  ],
+  "unseen": [
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode68.json b/place_shoe/demo_clean/instructions/episode68.json
new file mode 100644
index 0000000000000000000000000000000000000000..97c8e571afdb3a64384d60ee681f25dae5290a14
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode68.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Remove the shoe with black accents from the table and lay it on the mat",
+    "Grab the medium shoe with synthetic material from the table with the left arm and place it on the mat",
+    "Take the shoe with black accents from the table and position it on the mat",
+    "Pick the white shoe with black lines up from the table and drop it directly on the mat",
+    "Take the shoe with black accents and put it on the mat",
+    "Take the the medium shoe with synthetic material from the table using the left arm and drop it on the mat",
+    "Retrieve the medium shoe with synthetic material from the table and set it on the mat",
+    "Lift the rounded-top white shoe from the table and gently place it onto the mat",
+    "Pick up the white shoe with black lines with the left arm from the table and place it on the mat",
+    "Pick up the sports shoe white and black and move it to the mat",
+    "With the left arm, pick the white shoe up from the table and put it on the mat",
+    "Move the white shoe with black lines from the table to the mat",
+    "With the left arm, grab the sports shoe white and black off the table and place it onto the mat",
+    "Lift the white shoe with three stripes off the table using the left arm and drop it on the mat",
+    "Use the left arm to lift the white shoe with curved top from the table and set it on the mat",
+    "Using the left arm, grasp the white shoe from the table and place it onto the mat",
+    "Use the left arm to grab the white shoe with three stripes and transfer it to the mat",
+    "Using the left arm, lift the medium-sized shoe from the table and place it onto the mat",
+    "Move the white shoe with black lines from the table to the mat",
+    "Take the the medium-sized shoe off the table and put it on the mat",
+    "Use the left arm to pick up the rubber-soled black-striped shoe from the table and drop it on the mat",
+    "Lift the sports shoe white and black using the left arm from the table and place it on the mat",
+    "Pick up the synthetic leather white shoe from the table and set it on the mat",
+    "Use the left arm to lift the synthetic leather white shoe from the table and set it on the mat",
+    "Pick the the medium-sized shoe from the table and place it gently on the mat",
+    "Use the left arm to grab the white shoe from the table and move it to the mat",
+    "Pick the the smooth surface white shoe off the table and position it on the mat",
+    "Use the left arm to pick the white shoe with curved top off the table and move it onto the mat",
+    "With the left arm, grab the rubber-soled black-striped shoe from the table and place it on the mat",
+    "Lift the the white shoe with black lines from the table using the left arm and place it on the mat",
+    "Transfer the rubber-soled black-striped shoe from the table to the mat",
+    "Move the medium-sized shoe from the table and place it down on the mat",
+    "Take the smooth surface white shoe from the table and carefully drop it on the mat",
+    "Grab the the medium-sized shoe on the table and move it to the mat",
+    "Take the medium-sized shoe from the table and place it on the mat",
+    "Use the left arm to grab the the synthetic leather white shoe from the table and set it on the mat",
+    "Grab the medium shoe with synthetic material from the table and place it on the mat",
+    "Lift the white shoe and place it on the mat",
+    "Move the medium-sized shoe from the table to the mat in one fluid motion",
+    "Use the left arm to pick the white shoe with black lines and position it on the mat",
+    "Use the left arm to lift the the white shoe with black lines from the table and set it on the mat",
+    "Pick up the rounded-top white shoe with the left arm, move it from the table, and set it on the mat",
+    "Grab the rounded-top white shoe using the left arm and drop it on the mat",
+    "Take the white shoe with curved top with the left arm and place it carefully on the mat",
+    "Grab the sports shoe white and black using the left arm, move it from the table to the mat",
+    "Take the smooth surface white shoe from the table and put it on the mat",
+    "Lift the the white shoe with three stripes from the table and place it onto the mat",
+    "Pick the synthetic leather white shoe up from the table and put it on the mat",
+    "Use the left arm to grab the the white shoe with curved top and put it on the mat",
+    "Lift the shoe with black accents from the table and place it carefully on the mat",
+    "Remove the white shoe from the table and lay it on the mat",
+    "Grab the rubber-soled black-striped shoe from the table with the left arm and place it on the mat",
+    "Take the white shoe with black lines from the table and position it on the mat",
+    "Pick the white shoe with three stripes up from the table and drop it directly on the mat",
+    "Take the rounded-top white shoe and put it on the mat",
+    "Take the the rubber-soled black-striped shoe from the table using the left arm and drop it on the mat",
+    "Retrieve the synthetic leather white shoe from the table and set it on the mat",
+    "Lift the sports shoe white and black from the table and gently place it onto the mat",
+    "Pick up the white shoe with three stripes with the left arm from the table and place it on the mat",
+    "Pick up the medium-sized shoe and move it to the mat",
+    "With the left arm, pick the synthetic leather white shoe up from the table and put it on the mat",
+    "Move the white shoe with three stripes from the table to the mat",
+    "With the left arm, grab the smooth surface white shoe off the table and place it onto the mat",
+    "Lift the medium-sized shoe off the table using the left arm and drop it on the mat",
+    "Use the left arm to lift the medium-sized shoe from the table and set it on the mat",
+    "Using the left arm, grasp the rounded-top white shoe from the table and place it onto the mat",
+    "Use the left arm to grab the rounded-top white shoe and transfer it to the mat",
+    "Using the left arm, lift the smooth surface white shoe from the table and place it onto the mat",
+    "Move the shoe with black accents from the table to the mat",
+    "Take the the rounded-top white shoe off the table and put it on the mat",
+    "Use the left arm to pick up the rounded-top white shoe from the table and drop it on the mat",
+    "Lift the synthetic leather white shoe using the left arm from the table and place it on the mat",
+    "Pick up the synthetic leather white shoe from the table and set it on the mat",
+    "Use the left arm to lift the smooth surface white shoe from the table and set it on the mat",
+    "Pick the the synthetic leather white shoe from the table and place it gently on the mat",
+    "Use the left arm to grab the sports shoe white and black from the table and move it to the mat",
+    "Pick the the smooth surface white shoe off the table and position it on the mat",
+    "Use the left arm to pick the white shoe off the table and move it onto the mat",
+    "With the left arm, grab the rubber-soled black-striped shoe from the table and place it on the mat",
+    "Lift the the white shoe with curved top from the table using the left arm and place it on the mat",
+    "Transfer the smooth surface white shoe from the table to the mat",
+    "Move the white shoe from the table and place it down on the mat",
+    "Take the medium shoe with synthetic material from the table and carefully drop it on the mat",
+    "Grab the the medium shoe with synthetic material on the table and move it to the mat",
+    "Take the rubber-soled black-striped shoe from the table and place it on the mat",
+    "Use the left arm to grab the the rounded-top white shoe from the table and set it on the mat",
+    "Grab the synthetic leather white shoe from the table and place it on the mat",
+    "Lift the rubber-soled black-striped shoe and place it on the mat",
+    "Move the white shoe from the table to the mat in one fluid motion",
+    "Use the left arm to pick the smooth surface white shoe and position it on the mat",
+    "Use the left arm to lift the the white shoe with curved top from the table and set it on the mat",
+    "Pick up the shoe with black accents with the left arm, move it from the table, and set it on the mat",
+    "Grab the shoe with black accents using the left arm and drop it on the mat",
+    "Take the rounded-top white shoe with the left arm and place it carefully on the mat",
+    "Grab the rounded-top white shoe using the left arm, move it from the table to the mat",
+    "Take the rounded-top white shoe from the table and put it on the mat",
+    "Lift the the synthetic leather white shoe from the table and place it onto the mat",
+    "Pick the medium shoe with synthetic material up from the table and put it on the mat",
+    "Use the left arm to grab the the rubber-soled black-striped shoe and put it on the mat",
+    "Lift the synthetic leather white shoe from the table and place it carefully on the mat"
+  ],
+  "unseen": [
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode69.json b/place_shoe/demo_clean/instructions/episode69.json
new file mode 100644
index 0000000000000000000000000000000000000000..17a6e4cf1a7044e1d116f6d21b213dbe03d10855
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode69.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the shoe for everyday walking and transfer it to the mat",
+    "Remove the soft rubber-soled white shoe from the table and lay it on the mat",
+    "With the left arm, grab the white shoe with curved sole from the table and place it on the mat",
+    "Use the left arm to lift the the shoe with lace-up front from the table and set it on the mat",
+    "Pick the the medium-sized casual shoe from the table and place it gently on the mat",
+    "Lift the synthetic leather white shoe off the table using the left arm and drop it on the mat",
+    "Pick up the sleek white walking shoe with the left arm, move it from the table, and set it on the mat",
+    "Move the shoe with black back detail from the table to the mat in one fluid motion",
+    "Use the left arm to pick the synthetic leather white shoe off the table and move it onto the mat",
+    "With the left arm, pick the shoe with lace-up front up from the table and put it on the mat",
+    "Pick up the soft rubber-soled white shoe with the left arm from the table and place it on the mat",
+    "Pick the the medium-sized casual shoe off the table and position it on the mat",
+    "Lift the white shoe with curved sole from the table and place it carefully on the mat",
+    "Pick up the white shoe and move it to the mat",
+    "Lift the the soft rubber-soled white shoe from the table using the left arm and place it on the mat",
+    "Take the soft rubber-soled white shoe from the table and place it on the mat",
+    "Take the white shoe with rounded toe from the table and carefully drop it on the mat",
+    "Use the left arm to pick up the shoe with black back detail from the table and drop it on the mat",
+    "Grab the the white and black combination shoe on the table and move it to the mat",
+    "Use the left arm to grab the medium-sized casual shoe from the table and move it to the mat",
+    "Retrieve the shoe for everyday walking from the table and set it on the mat",
+    "Move the sleek white walking shoe from the table to the mat",
+    "Pick the white and black combination shoe up from the table and drop it directly on the mat",
+    "Lift the medium-sized casual shoe using the left arm from the table and place it on the mat",
+    "Take the the shoe with black heel patch off the table and put it on the mat",
+    "Using the left arm, grasp the sleek white walking shoe from the table and place it onto the mat",
+    "Take the the shoe with black heel patch from the table using the left arm and drop it on the mat",
+    "Using the left arm, lift the white shoe with rounded toe from the table and place it onto the mat",
+    "Grab the synthetic leather white shoe from the table and place it on the mat",
+    "Take the white shoe with curved sole from the table and position it on the mat",
+    "Use the left arm to grab the the synthetic leather white shoe and put it on the mat",
+    "Use the left arm to pick the medium-sized casual shoe and position it on the mat",
+    "Lift the white shoe from the table and gently place it onto the mat",
+    "Grab the shoe with lace-up front using the left arm, move it from the table to the mat",
+    "Move the shoe with lace-up front from the table and place it down on the mat",
+    "Pick the synthetic leather white shoe up from the table and put it on the mat",
+    "Move the synthetic leather white shoe from the table to the mat",
+    "Transfer the white shoe with curved sole from the table to the mat",
+    "Take the medium-sized casual shoe from the table and put it on the mat",
+    "Take the shoe for everyday walking with the left arm and place it carefully on the mat",
+    "Grab the sleek white walking shoe from the table with the left arm and place it on the mat",
+    "Use the left arm to lift the white shoe with rounded toe from the table and set it on the mat",
+    "Lift the shoe for everyday walking and place it on the mat",
+    "Pick up the white shoe with curved sole from the table and set it on the mat",
+    "Grab the shoe with lace-up front using the left arm and drop it on the mat",
+    "Use the left arm to lift the shoe with black back detail from the table and set it on the mat",
+    "Lift the the sleek white walking shoe from the table and place it onto the mat",
+    "Take the white shoe with rounded toe and put it on the mat",
+    "Use the left arm to grab the the shoe with lace-up front from the table and set it on the mat",
+    "With the left arm, grab the sleek white walking shoe off the table and place it onto the mat",
+    "Use the left arm to grab the synthetic leather white shoe and transfer it to the mat",
+    "Remove the soft rubber-soled white shoe from the table and lay it on the mat",
+    "With the left arm, grab the shoe with black back detail from the table and place it on the mat",
+    "Use the left arm to lift the the sleek white walking shoe from the table and set it on the mat",
+    "Pick the the white shoe from the table and place it gently on the mat",
+    "Lift the white shoe with rounded toe off the table using the left arm and drop it on the mat",
+    "Pick up the white shoe with the left arm, move it from the table, and set it on the mat",
+    "Move the white shoe from the table to the mat in one fluid motion",
+    "Use the left arm to pick the white shoe with curved sole off the table and move it onto the mat",
+    "With the left arm, pick the synthetic leather white shoe up from the table and put it on the mat",
+    "Pick up the white shoe with curved sole with the left arm from the table and place it on the mat",
+    "Pick the the soft rubber-soled white shoe off the table and position it on the mat",
+    "Lift the shoe with black back detail from the table and place it carefully on the mat",
+    "Pick up the shoe with lace-up front and move it to the mat",
+    "Lift the the shoe with lace-up front from the table using the left arm and place it on the mat",
+    "Take the shoe with lace-up front from the table and place it on the mat",
+    "Take the synthetic leather white shoe from the table and carefully drop it on the mat",
+    "Use the left arm to pick up the shoe with black back detail from the table and drop it on the mat",
+    "Grab the the synthetic leather white shoe on the table and move it to the mat",
+    "Use the left arm to grab the white and black combination shoe from the table and move it to the mat",
+    "Retrieve the white shoe from the table and set it on the mat",
+    "Move the white shoe from the table to the mat",
+    "Pick the white and black combination shoe up from the table and drop it directly on the mat",
+    "Lift the white shoe using the left arm from the table and place it on the mat",
+    "Take the the white shoe off the table and put it on the mat",
+    "Using the left arm, grasp the shoe with lace-up front from the table and place it onto the mat",
+    "Take the the synthetic leather white shoe from the table using the left arm and drop it on the mat",
+    "Using the left arm, lift the soft rubber-soled white shoe from the table and place it onto the mat",
+    "Grab the shoe with lace-up front from the table and place it on the mat",
+    "Take the medium-sized casual shoe from the table and position it on the mat",
+    "Use the left arm to grab the the shoe with lace-up front and put it on the mat",
+    "Use the left arm to pick the shoe with lace-up front and position it on the mat",
+    "Lift the white shoe from the table and gently place it onto the mat",
+    "Grab the white and black combination shoe using the left arm, move it from the table to the mat",
+    "Move the shoe for everyday walking from the table and place it down on the mat",
+    "Pick the synthetic leather white shoe up from the table and put it on the mat",
+    "Move the sleek white walking shoe from the table to the mat",
+    "Transfer the shoe with lace-up front from the table to the mat",
+    "Take the medium-sized casual shoe from the table and put it on the mat",
+    "Take the white shoe with rounded toe with the left arm and place it carefully on the mat",
+    "Grab the white shoe with curved sole from the table with the left arm and place it on the mat",
+    "Use the left arm to lift the shoe for everyday walking from the table and set it on the mat",
+    "Lift the white and black combination shoe and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the shoe with black heel patch using the left arm and drop it on the mat",
+    "Use the left arm to lift the medium-sized casual shoe from the table and set it on the mat",
+    "Lift the the white shoe with rounded toe from the table and place it onto the mat",
+    "Take the medium-sized casual shoe and put it on the mat",
+    "Use the left arm to grab the the synthetic leather white shoe from the table and set it on the mat",
+    "With the left arm, grab the medium-sized casual shoe off the table and place it onto the mat"
+  ],
+  "unseen": [
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode7.json b/place_shoe/demo_clean/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..725f47dfa2ab9661fe33690edd2c8188de96438e
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the the shoe with smooth top and grippy sole and put it on the mat",
+    "Use the left arm to grab the dual-tone shoe with sleek design and transfer it to the mat",
+    "With the left arm, grab the comfortable shoe for walking from the table and place it on the mat",
+    "Grab the the black and white shoe on the table and move it to the mat",
+    "Grab the rubber-soled shoe with lace-up top from the table and place it on the mat",
+    "Using the left arm, grasp the average adult-sized shoe from the table and place it onto the mat",
+    "Pick up the black shoe with white accents with the left arm from the table and place it on the mat",
+    "Remove the black and white shoe from the table and lay it on the mat",
+    "Use the left arm to pick the black shoe with white accents and position it on the mat",
+    "Grab the average adult-sized shoe from the table with the left arm and place it on the mat",
+    "Move the wearable foot protector shoe from the table to the mat",
+    "Use the left arm to grab the shoe made of rubber and leather from the table and move it to the mat",
+    "Take the black shoe with white accents from the table and carefully drop it on the mat",
+    "Grab the synthetic leather shoe using the left arm, move it from the table to the mat",
+    "Lift the shoe with smooth top and grippy sole off the table using the left arm and drop it on the mat",
+    "Move the shoe made of rubber and leather from the table to the mat",
+    "Lift the wearable foot protector shoe from the table and place it carefully on the mat",
+    "Use the left arm to lift the shoe made of rubber and leather from the table and set it on the mat",
+    "Use the left arm to lift the comfortable shoe for walking from the table and set it on the mat",
+    "Lift the black shoe with white accents from the table and gently place it onto the mat",
+    "Use the left arm to lift the the wearable foot protector shoe from the table and set it on the mat",
+    "Move the shoe with smooth top and grippy sole from the table to the mat in one fluid motion",
+    "Pick up the shoe with smooth top and grippy sole from the table and set it on the mat",
+    "Pick the the medium-sized black and white shoe off the table and position it on the mat",
+    "Take the shoe with curved sole with the left arm and place it carefully on the mat",
+    "Take the wearable foot protector shoe from the table and place it on the mat",
+    "Pick the average adult-sized shoe up from the table and drop it directly on the mat",
+    "Use the left arm to pick the rubber-soled shoe with lace-up top off the table and move it onto the mat",
+    "Take the the black shoe with white accents off the table and put it on the mat",
+    "Pick the the wearable foot protector shoe from the table and place it gently on the mat",
+    "Take the the wearable foot protector shoe from the table using the left arm and drop it on the mat",
+    "Pick the comfortable shoe for walking up from the table and put it on the mat",
+    "Using the left arm, lift the shoe with curved sole from the table and place it onto the mat",
+    "Pick up the rubber-soled shoe with lace-up top and move it to the mat",
+    "Use the left arm to grab the the synthetic leather shoe from the table and set it on the mat",
+    "Take the black and white shoe from the table and position it on the mat",
+    "Grab the shoe made of rubber and leather using the left arm and drop it on the mat",
+    "Lift the comfortable shoe for walking using the left arm from the table and place it on the mat",
+    "Take the shoe with curved sole and put it on the mat",
+    "Move the comfortable shoe for walking from the table and place it down on the mat",
+    "Pick up the rubber-soled shoe with lace-up top with the left arm, move it from the table, and set it on the mat",
+    "Lift the wearable foot protector shoe and place it on the mat",
+    "With the left arm, grab the synthetic leather shoe off the table and place it onto the mat",
+    "Lift the the rubber-soled shoe with lace-up top from the table using the left arm and place it on the mat",
+    "With the left arm, pick the average adult-sized shoe up from the table and put it on the mat",
+    "Use the left arm to pick up the shoe with smooth top and grippy sole from the table and drop it on the mat",
+    "Retrieve the black shoe with white accents from the table and set it on the mat",
+    "Take the wearable foot protector shoe from the table and put it on the mat",
+    "Lift the the dual-tone shoe with sleek design from the table and place it onto the mat",
+    "Transfer the average adult-sized shoe from the table to the mat",
+    "Use the left arm to grab the the synthetic leather shoe and put it on the mat",
+    "Use the left arm to grab the synthetic leather shoe and transfer it to the mat",
+    "With the left arm, grab the dual-tone shoe with sleek design from the table and place it on the mat",
+    "Grab the the dual-tone shoe with sleek design on the table and move it to the mat",
+    "Grab the shoe with smooth top and grippy sole from the table and place it on the mat",
+    "Using the left arm, grasp the shoe made of rubber and leather from the table and place it onto the mat",
+    "Pick up the black and white shoe with the left arm from the table and place it on the mat",
+    "Remove the shoe made of rubber and leather from the table and lay it on the mat",
+    "Use the left arm to pick the rubber-soled shoe with lace-up top and position it on the mat",
+    "Grab the medium-sized black and white shoe from the table with the left arm and place it on the mat",
+    "Move the medium-sized black and white shoe from the table to the mat",
+    "Use the left arm to grab the rubber-soled shoe with lace-up top from the table and move it to the mat",
+    "Take the wearable foot protector shoe from the table and carefully drop it on the mat",
+    "Grab the average adult-sized shoe using the left arm, move it from the table to the mat",
+    "Lift the black and white shoe off the table using the left arm and drop it on the mat",
+    "Move the black and white shoe from the table to the mat",
+    "Lift the medium-sized black and white shoe from the table and place it carefully on the mat",
+    "Use the left arm to lift the shoe made of rubber and leather from the table and set it on the mat",
+    "Use the left arm to lift the medium-sized black and white shoe from the table and set it on the mat",
+    "Lift the shoe made of rubber and leather from the table and gently place it onto the mat",
+    "Use the left arm to lift the the dual-tone shoe with sleek design from the table and set it on the mat",
+    "Move the average adult-sized shoe from the table to the mat in one fluid motion",
+    "Pick up the black and white shoe from the table and set it on the mat",
+    "Pick the the synthetic leather shoe off the table and position it on the mat",
+    "Take the wearable foot protector shoe with the left arm and place it carefully on the mat",
+    "Take the rubber-soled shoe with lace-up top from the table and place it on the mat",
+    "Pick the black shoe with white accents up from the table and drop it directly on the mat",
+    "Use the left arm to pick the black and white shoe off the table and move it onto the mat",
+    "Take the the shoe made of rubber and leather off the table and put it on the mat",
+    "Pick the the wearable foot protector shoe from the table and place it gently on the mat",
+    "Take the the shoe with curved sole from the table using the left arm and drop it on the mat",
+    "Pick the black and white shoe up from the table and put it on the mat",
+    "Using the left arm, lift the average adult-sized shoe from the table and place it onto the mat",
+    "Pick up the black shoe with white accents and move it to the mat",
+    "Use the left arm to grab the the synthetic leather shoe from the table and set it on the mat",
+    "Take the dual-tone shoe with sleek design from the table and position it on the mat",
+    "Grab the comfortable shoe for walking using the left arm and drop it on the mat",
+    "Lift the black and white shoe using the left arm from the table and place it on the mat",
+    "Take the shoe with smooth top and grippy sole and put it on the mat",
+    "Move the synthetic leather shoe from the table and place it down on the mat",
+    "Pick up the medium-sized black and white shoe with the left arm, move it from the table, and set it on the mat",
+    "Lift the black and white shoe and place it on the mat",
+    "With the left arm, grab the shoe with curved sole off the table and place it onto the mat",
+    "Lift the the shoe with curved sole from the table using the left arm and place it on the mat",
+    "With the left arm, pick the average adult-sized shoe up from the table and put it on the mat",
+    "Use the left arm to pick up the shoe with curved sole from the table and drop it on the mat",
+    "Retrieve the black and white shoe from the table and set it on the mat",
+    "Take the black and white shoe from the table and put it on the mat",
+    "Lift the the black and white shoe from the table and place it onto the mat",
+    "Transfer the comfortable shoe for walking from the table to the mat"
+  ],
+  "unseen": [
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the left arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Use the left arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the left arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Use the left arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the left arm to lift the black shoe with white midsole and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Use the left arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the left arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Use the left arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the left arm to lift the black shoe with white midsole and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Use the left arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the left arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Use the left arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the left arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Use the left arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the left arm to lift the black shoe with white midsole and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Use the left arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Use the left arm to lift the black shoe with white midsole and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Use the left arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Use the left arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Use the left arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode70.json b/place_shoe/demo_clean/instructions/episode70.json
new file mode 100644
index 0000000000000000000000000000000000000000..244b834df40969495e3c6600940e92d24a24b70d
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode70.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the white shoe with the right arm and place it carefully on the mat",
+    "Take the white and black combination shoe from the table and carefully drop it on the mat",
+    "Take the shoe with black heel patch from the table and put it on the mat",
+    "Use the right arm to pick the shoe for everyday walking and position it on the mat",
+    "With the right arm, grab the sleek white walking shoe off the table and place it onto the mat",
+    "Pick up the soft rubber-soled white shoe from the table and set it on the mat",
+    "Lift the synthetic leather white shoe from the table and gently place it onto the mat",
+    "Pick the the shoe with black heel patch off the table and position it on the mat",
+    "Take the the white and black combination shoe off the table and put it on the mat",
+    "With the right arm, grab the synthetic leather white shoe from the table and place it on the mat",
+    "Use the right arm to grab the medium-sized casual shoe from the table and move it to the mat",
+    "Lift the shoe with lace-up front off the table using the right arm and drop it on the mat",
+    "Move the white shoe with curved sole from the table and place it down on the mat",
+    "Use the right arm to pick up the white shoe with curved sole from the table and drop it on the mat",
+    "Use the right arm to grab the the shoe with lace-up front from the table and set it on the mat",
+    "Using the right arm, grasp the synthetic leather white shoe from the table and place it onto the mat",
+    "Move the white shoe with rounded toe from the table to the mat",
+    "Lift the white shoe with rounded toe and place it on the mat",
+    "Pick up the white shoe with rounded toe with the right arm from the table and place it on the mat",
+    "Retrieve the shoe with lace-up front from the table and set it on the mat",
+    "Grab the white and black combination shoe using the right arm, move it from the table to the mat",
+    "Lift the white shoe using the right arm from the table and place it on the mat",
+    "Transfer the synthetic leather white shoe from the table to the mat",
+    "Move the sleek white walking shoe from the table to the mat",
+    "Use the right arm to lift the white shoe with rounded toe from the table and set it on the mat",
+    "Using the right arm, lift the medium-sized casual shoe from the table and place it onto the mat",
+    "Lift the the sleek white walking shoe from the table using the right arm and place it on the mat",
+    "Move the shoe with black heel patch from the table to the mat in one fluid motion",
+    "Take the white shoe with curved sole and put it on the mat",
+    "Use the right arm to grab the the sleek white walking shoe and put it on the mat",
+    "Grab the white and black combination shoe from the table and place it on the mat",
+    "Grab the the soft rubber-soled white shoe on the table and move it to the mat",
+    "With the right arm, pick the white shoe up from the table and put it on the mat",
+    "Pick the white and black combination shoe up from the table and drop it directly on the mat",
+    "Pick the sleek white walking shoe up from the table and put it on the mat",
+    "Lift the sleek white walking shoe from the table and place it carefully on the mat",
+    "Use the right arm to lift the sleek white walking shoe from the table and set it on the mat",
+    "Grab the synthetic leather white shoe using the right arm and drop it on the mat",
+    "Use the right arm to lift the the medium-sized casual shoe from the table and set it on the mat",
+    "Remove the synthetic leather white shoe from the table and lay it on the mat",
+    "Use the right arm to pick the shoe with lace-up front off the table and move it onto the mat",
+    "Take the the white and black combination shoe from the table using the right arm and drop it on the mat",
+    "Lift the the shoe with black heel patch from the table and place it onto the mat",
+    "Take the shoe with lace-up front from the table and position it on the mat",
+    "Use the right arm to grab the synthetic leather white shoe and transfer it to the mat",
+    "Pick the the synthetic leather white shoe from the table and place it gently on the mat",
+    "Pick up the medium-sized casual shoe with the right arm, move it from the table, and set it on the mat",
+    "Pick up the synthetic leather white shoe and move it to the mat",
+    "Grab the white shoe with curved sole from the table with the right arm and place it on the mat",
+    "Take the sleek white walking shoe from the table and place it on the mat",
+    "Take the shoe for everyday walking with the right arm and place it carefully on the mat",
+    "Take the soft rubber-soled white shoe from the table and carefully drop it on the mat",
+    "Take the shoe with black back detail from the table and put it on the mat",
+    "Use the right arm to pick the white shoe with curved sole and position it on the mat",
+    "With the right arm, grab the shoe with black back detail off the table and place it onto the mat",
+    "Pick up the white shoe with rounded toe from the table and set it on the mat",
+    "Lift the synthetic leather white shoe from the table and gently place it onto the mat",
+    "Pick the the white shoe with curved sole off the table and position it on the mat",
+    "Take the the shoe with black heel patch off the table and put it on the mat",
+    "With the right arm, grab the medium-sized casual shoe from the table and place it on the mat",
+    "Use the right arm to grab the white shoe from the table and move it to the mat",
+    "Lift the shoe with black heel patch off the table using the right arm and drop it on the mat",
+    "Move the shoe with lace-up front from the table and place it down on the mat",
+    "Use the right arm to pick up the white and black combination shoe from the table and drop it on the mat",
+    "Use the right arm to grab the the white shoe with curved sole from the table and set it on the mat",
+    "Using the right arm, grasp the shoe with black back detail from the table and place it onto the mat",
+    "Move the synthetic leather white shoe from the table to the mat",
+    "Lift the shoe with black back detail and place it on the mat",
+    "Pick up the shoe with lace-up front with the right arm from the table and place it on the mat",
+    "Retrieve the shoe for everyday walking from the table and set it on the mat",
+    "Grab the medium-sized casual shoe using the right arm, move it from the table to the mat",
+    "Lift the shoe for everyday walking using the right arm from the table and place it on the mat",
+    "Transfer the shoe for everyday walking from the table to the mat",
+    "Move the shoe for everyday walking from the table to the mat",
+    "Use the right arm to lift the medium-sized casual shoe from the table and set it on the mat",
+    "Using the right arm, lift the sleek white walking shoe from the table and place it onto the mat",
+    "Lift the the shoe for everyday walking from the table using the right arm and place it on the mat",
+    "Move the shoe with black back detail from the table to the mat in one fluid motion",
+    "Take the shoe with lace-up front and put it on the mat",
+    "Use the right arm to grab the the soft rubber-soled white shoe and put it on the mat",
+    "Grab the white shoe with rounded toe from the table and place it on the mat",
+    "Grab the the shoe for everyday walking on the table and move it to the mat",
+    "With the right arm, pick the white shoe with rounded toe up from the table and put it on the mat",
+    "Pick the shoe with lace-up front up from the table and drop it directly on the mat",
+    "Pick the white and black combination shoe up from the table and put it on the mat",
+    "Lift the shoe for everyday walking from the table and place it carefully on the mat",
+    "Use the right arm to lift the white shoe from the table and set it on the mat",
+    "Grab the soft rubber-soled white shoe using the right arm and drop it on the mat",
+    "Use the right arm to lift the the sleek white walking shoe from the table and set it on the mat",
+    "Remove the shoe for everyday walking from the table and lay it on the mat",
+    "Use the right arm to pick the sleek white walking shoe off the table and move it onto the mat",
+    "Take the the white and black combination shoe from the table using the right arm and drop it on the mat",
+    "Lift the the shoe with black heel patch from the table and place it onto the mat",
+    "Take the white shoe from the table and position it on the mat",
+    "Use the right arm to grab the soft rubber-soled white shoe and transfer it to the mat",
+    "Pick the the white shoe with rounded toe from the table and place it gently on the mat",
+    "Pick up the sleek white walking shoe with the right arm, move it from the table, and set it on the mat",
+    "Pick up the shoe with black back detail and move it to the mat",
+    "Grab the synthetic leather white shoe from the table with the right arm and place it on the mat",
+    "Take the medium-sized casual shoe from the table and place it on the mat"
+  ],
+  "unseen": [
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode71.json b/place_shoe/demo_clean/instructions/episode71.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff79ff1354697c817870852cfc1fa69a46550c61
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode71.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the the white shoe with three stripes from the table using the right arm and place it on the mat",
+    "Use the right arm to grab the white shoe with three stripes and transfer it to the mat",
+    "Pick the the white shoe from the table and place it gently on the mat",
+    "Take the white shoe with black lines and put it on the mat",
+    "Use the right arm to grab the the white shoe with black lines and put it on the mat",
+    "Use the right arm to pick the synthetic leather white shoe off the table and move it onto the mat",
+    "Use the right arm to pick the shoe with black accents and position it on the mat",
+    "Pick up the white shoe with black lines from the table and set it on the mat",
+    "Lift the the rounded-top white shoe from the table and place it onto the mat",
+    "Remove the white shoe from the table and lay it on the mat",
+    "Take the medium-sized shoe from the table and position it on the mat",
+    "Pick up the white shoe with curved top with the right arm from the table and place it on the mat",
+    "Move the white shoe with curved top from the table to the mat",
+    "Take the the smooth surface white shoe off the table and put it on the mat",
+    "Lift the white shoe with three stripes off the table using the right arm and drop it on the mat",
+    "Move the white shoe with three stripes from the table to the mat in one fluid motion",
+    "Lift the rubber-soled black-striped shoe using the right arm from the table and place it on the mat",
+    "Pick up the white shoe with black lines with the right arm, move it from the table, and set it on the mat",
+    "Using the right arm, lift the rounded-top white shoe from the table and place it onto the mat",
+    "Grab the sports shoe white and black using the right arm, move it from the table to the mat",
+    "Grab the rubber-soled black-striped shoe from the table and place it on the mat",
+    "Take the rounded-top white shoe from the table and place it on the mat",
+    "Pick the sports shoe white and black up from the table and put it on the mat",
+    "Move the medium shoe with synthetic material from the table and place it down on the mat",
+    "Grab the the white shoe with three stripes on the table and move it to the mat",
+    "Use the right arm to pick up the medium shoe with synthetic material from the table and drop it on the mat",
+    "Use the right arm to lift the rounded-top white shoe from the table and set it on the mat",
+    "Lift the rubber-soled black-striped shoe from the table and place it carefully on the mat",
+    "Transfer the rubber-soled black-striped shoe from the table to the mat",
+    "Take the white shoe with curved top from the table and carefully drop it on the mat",
+    "Take the rubber-soled black-striped shoe with the right arm and place it carefully on the mat",
+    "Use the right arm to grab the the shoe with black accents from the table and set it on the mat",
+    "Lift the white shoe from the table and gently place it onto the mat",
+    "Take the smooth surface white shoe from the table and put it on the mat",
+    "Pick the the white shoe with curved top off the table and position it on the mat",
+    "Use the right arm to lift the the white shoe from the table and set it on the mat",
+    "With the right arm, pick the rubber-soled black-striped shoe up from the table and put it on the mat",
+    "Use the right arm to grab the medium shoe with synthetic material from the table and move it to the mat",
+    "Retrieve the medium shoe with synthetic material from the table and set it on the mat",
+    "Use the right arm to lift the synthetic leather white shoe from the table and set it on the mat",
+    "Pick up the rounded-top white shoe and move it to the mat",
+    "Take the the white shoe with three stripes from the table using the right arm and drop it on the mat",
+    "Move the rounded-top white shoe from the table to the mat",
+    "Grab the white shoe with black lines from the table with the right arm and place it on the mat",
+    "Lift the white shoe with curved top and place it on the mat",
+    "Using the right arm, grasp the white shoe with curved top from the table and place it onto the mat",
+    "Grab the medium-sized shoe using the right arm and drop it on the mat",
+    "Pick the medium-sized shoe up from the table and drop it directly on the mat",
+    "With the right arm, grab the medium shoe with synthetic material from the table and place it on the mat",
+    "With the right arm, grab the white shoe with black lines off the table and place it onto the mat",
+    "Lift the the white shoe with curved top from the table using the right arm and place it on the mat",
+    "Use the right arm to grab the medium-sized shoe and transfer it to the mat",
+    "Pick the the white shoe with curved top from the table and place it gently on the mat",
+    "Take the medium-sized shoe and put it on the mat",
+    "Use the right arm to grab the the rounded-top white shoe and put it on the mat",
+    "Use the right arm to pick the white shoe with three stripes off the table and move it onto the mat",
+    "Use the right arm to pick the synthetic leather white shoe and position it on the mat",
+    "Pick up the white shoe with black lines from the table and set it on the mat",
+    "Lift the the rounded-top white shoe from the table and place it onto the mat",
+    "Remove the sports shoe white and black from the table and lay it on the mat",
+    "Take the white shoe with curved top from the table and position it on the mat",
+    "Pick up the synthetic leather white shoe with the right arm from the table and place it on the mat",
+    "Move the medium-sized shoe from the table to the mat",
+    "Take the the white shoe off the table and put it on the mat",
+    "Lift the white shoe with curved top off the table using the right arm and drop it on the mat",
+    "Move the white shoe from the table to the mat in one fluid motion",
+    "Lift the smooth surface white shoe using the right arm from the table and place it on the mat",
+    "Pick up the shoe with black accents with the right arm, move it from the table, and set it on the mat",
+    "Using the right arm, lift the shoe with black accents from the table and place it onto the mat",
+    "Grab the white shoe with black lines using the right arm, move it from the table to the mat",
+    "Grab the white shoe with black lines from the table and place it on the mat",
+    "Take the white shoe from the table and place it on the mat",
+    "Pick the synthetic leather white shoe up from the table and put it on the mat",
+    "Move the white shoe with black lines from the table and place it down on the mat",
+    "Grab the the white shoe with black lines on the table and move it to the mat",
+    "Use the right arm to pick up the sports shoe white and black from the table and drop it on the mat",
+    "Use the right arm to lift the white shoe with black lines from the table and set it on the mat",
+    "Lift the synthetic leather white shoe from the table and place it carefully on the mat",
+    "Transfer the sports shoe white and black from the table to the mat",
+    "Take the sports shoe white and black from the table and carefully drop it on the mat",
+    "Take the rounded-top white shoe with the right arm and place it carefully on the mat",
+    "Use the right arm to grab the the synthetic leather white shoe from the table and set it on the mat",
+    "Lift the white shoe with curved top from the table and gently place it onto the mat",
+    "Take the medium-sized shoe from the table and put it on the mat",
+    "Pick the the white shoe off the table and position it on the mat",
+    "Use the right arm to lift the the white shoe from the table and set it on the mat",
+    "With the right arm, pick the white shoe up from the table and put it on the mat",
+    "Use the right arm to grab the rounded-top white shoe from the table and move it to the mat",
+    "Retrieve the medium-sized shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe with black accents from the table and set it on the mat",
+    "Pick up the medium shoe with synthetic material and move it to the mat",
+    "Take the the smooth surface white shoe from the table using the right arm and drop it on the mat",
+    "Move the rubber-soled black-striped shoe from the table to the mat",
+    "Grab the white shoe with black lines from the table with the right arm and place it on the mat",
+    "Lift the white shoe with three stripes and place it on the mat",
+    "Using the right arm, grasp the white shoe with three stripes from the table and place it onto the mat",
+    "Grab the white shoe using the right arm and drop it on the mat",
+    "Pick the rounded-top white shoe up from the table and drop it directly on the mat",
+    "With the right arm, grab the synthetic leather white shoe from the table and place it on the mat",
+    "With the right arm, grab the white shoe with curved top off the table and place it onto the mat"
+  ],
+  "unseen": [
+    "Use the right arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Use the right arm to lift the shoe with black stripe design and drop it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Use the right arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Use the right arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the right arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Use the right arm to lift the shoe with black stripe design and drop it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the right arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Use the right arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Use the right arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Use the right arm to lift the shoe with black stripe design and drop it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Use the right arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Use the right arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the right arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Use the right arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Use the right arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Use the right arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the right arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe with black stripe design and drop it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Use the right arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Use the right arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode72.json b/place_shoe/demo_clean/instructions/episode72.json
new file mode 100644
index 0000000000000000000000000000000000000000..975898d3364a89a5da6628e2437a17624f8651a9
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode72.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the the smooth surface white shoe from the table and place it onto the mat",
+    "Take the medium shoe with synthetic material from the table and position it on the mat",
+    "Use the left arm to pick up the synthetic leather white shoe from the table and drop it on the mat",
+    "Using the left arm, grasp the white shoe with black lines from the table and place it onto the mat",
+    "With the left arm, pick the medium-sized shoe up from the table and put it on the mat",
+    "Lift the white shoe with curved top from the table and place it carefully on the mat",
+    "With the left arm, grab the rubber-soled black-striped shoe off the table and place it onto the mat",
+    "Pick the the white shoe with three stripes off the table and position it on the mat",
+    "With the left arm, grab the smooth surface white shoe from the table and place it on the mat",
+    "Use the left arm to grab the shoe with black accents and transfer it to the mat",
+    "Transfer the rubber-soled black-striped shoe from the table to the mat",
+    "Take the medium-sized shoe from the table and put it on the mat",
+    "Grab the white shoe with black lines from the table with the left arm and place it on the mat",
+    "Pick the the shoe with black accents from the table and place it gently on the mat",
+    "Pick up the medium shoe with synthetic material with the left arm, move it from the table, and set it on the mat",
+    "Move the sports shoe white and black from the table and place it down on the mat",
+    "Take the white shoe from the table and carefully drop it on the mat",
+    "Use the left arm to lift the the sports shoe white and black from the table and set it on the mat",
+    "Use the left arm to grab the the white shoe from the table and set it on the mat",
+    "Lift the the medium shoe with synthetic material from the table using the left arm and place it on the mat",
+    "Use the left arm to pick the white shoe with black lines and position it on the mat",
+    "Using the left arm, lift the rubber-soled black-striped shoe from the table and place it onto the mat",
+    "Grab the sports shoe white and black using the left arm and drop it on the mat",
+    "Lift the white shoe with black lines and place it on the mat",
+    "Take the white shoe with black lines from the table and place it on the mat",
+    "Move the white shoe from the table to the mat",
+    "Pick up the sports shoe white and black with the left arm from the table and place it on the mat",
+    "Pick up the smooth surface white shoe from the table and set it on the mat",
+    "Move the sports shoe white and black from the table to the mat in one fluid motion",
+    "Grab the the rubber-soled black-striped shoe on the table and move it to the mat",
+    "Use the left arm to pick the rubber-soled black-striped shoe off the table and move it onto the mat",
+    "Take the synthetic leather white shoe with the left arm and place it carefully on the mat",
+    "Retrieve the rounded-top white shoe from the table and set it on the mat",
+    "Take the the white shoe with curved top off the table and put it on the mat",
+    "Lift the white shoe with three stripes from the table and gently place it onto the mat",
+    "Use the left arm to grab the the shoe with black accents and put it on the mat",
+    "Grab the rounded-top white shoe using the left arm, move it from the table to the mat",
+    "Take the the rounded-top white shoe from the table using the left arm and drop it on the mat",
+    "Move the synthetic leather white shoe from the table to the mat",
+    "Pick up the white shoe with black lines and move it to the mat",
+    "Take the white shoe with three stripes and put it on the mat",
+    "Use the left arm to lift the white shoe with three stripes from the table and set it on the mat",
+    "Remove the rounded-top white shoe from the table and lay it on the mat",
+    "Lift the sports shoe white and black off the table using the left arm and drop it on the mat",
+    "Pick the white shoe with black lines up from the table and put it on the mat",
+    "Lift the smooth surface white shoe using the left arm from the table and place it on the mat",
+    "Use the left arm to grab the white shoe with curved top from the table and move it to the mat",
+    "Grab the rounded-top white shoe from the table and place it on the mat",
+    "Use the left arm to lift the white shoe with curved top from the table and set it on the mat",
+    "Pick the synthetic leather white shoe up from the table and drop it directly on the mat",
+    "Lift the the synthetic leather white shoe from the table and place it onto the mat",
+    "Take the white shoe with three stripes from the table and position it on the mat",
+    "Use the left arm to pick up the synthetic leather white shoe from the table and drop it on the mat",
+    "Using the left arm, grasp the synthetic leather white shoe from the table and place it onto the mat",
+    "With the left arm, pick the white shoe with curved top up from the table and put it on the mat",
+    "Lift the rubber-soled black-striped shoe from the table and place it carefully on the mat",
+    "With the left arm, grab the white shoe with three stripes off the table and place it onto the mat",
+    "Pick the the white shoe with black lines off the table and position it on the mat",
+    "With the left arm, grab the medium-sized shoe from the table and place it on the mat",
+    "Use the left arm to grab the medium-sized shoe and transfer it to the mat",
+    "Transfer the medium shoe with synthetic material from the table to the mat",
+    "Take the white shoe with curved top from the table and put it on the mat",
+    "Grab the sports shoe white and black from the table with the left arm and place it on the mat",
+    "Pick the the medium shoe with synthetic material from the table and place it gently on the mat",
+    "Pick up the white shoe with curved top with the left arm, move it from the table, and set it on the mat",
+    "Move the sports shoe white and black from the table and place it down on the mat",
+    "Take the white shoe with curved top from the table and carefully drop it on the mat",
+    "Use the left arm to lift the the white shoe with curved top from the table and set it on the mat",
+    "Use the left arm to grab the the white shoe from the table and set it on the mat",
+    "Lift the the white shoe with curved top from the table using the left arm and place it on the mat",
+    "Use the left arm to pick the sports shoe white and black and position it on the mat",
+    "Using the left arm, lift the smooth surface white shoe from the table and place it onto the mat",
+    "Grab the medium shoe with synthetic material using the left arm and drop it on the mat",
+    "Lift the white shoe with three stripes and place it on the mat",
+    "Take the white shoe with black lines from the table and place it on the mat",
+    "Move the sports shoe white and black from the table to the mat",
+    "Pick up the smooth surface white shoe with the left arm from the table and place it on the mat",
+    "Pick up the medium shoe with synthetic material from the table and set it on the mat",
+    "Move the white shoe with black lines from the table to the mat in one fluid motion",
+    "Grab the the rubber-soled black-striped shoe on the table and move it to the mat",
+    "Use the left arm to pick the shoe with black accents off the table and move it onto the mat",
+    "Take the medium shoe with synthetic material with the left arm and place it carefully on the mat",
+    "Retrieve the medium shoe with synthetic material from the table and set it on the mat",
+    "Take the the sports shoe white and black off the table and put it on the mat",
+    "Lift the white shoe with black lines from the table and gently place it onto the mat",
+    "Use the left arm to grab the the rubber-soled black-striped shoe and put it on the mat",
+    "Grab the white shoe with three stripes using the left arm, move it from the table to the mat",
+    "Take the the medium-sized shoe from the table using the left arm and drop it on the mat",
+    "Move the white shoe with curved top from the table to the mat",
+    "Pick up the white shoe and move it to the mat",
+    "Take the synthetic leather white shoe and put it on the mat",
+    "Use the left arm to lift the medium shoe with synthetic material from the table and set it on the mat",
+    "Remove the shoe with black accents from the table and lay it on the mat",
+    "Lift the rounded-top white shoe off the table using the left arm and drop it on the mat",
+    "Pick the shoe with black accents up from the table and put it on the mat",
+    "Lift the sports shoe white and black using the left arm from the table and place it on the mat",
+    "Use the left arm to grab the white shoe with curved top from the table and move it to the mat",
+    "Grab the sports shoe white and black from the table and place it on the mat",
+    "Use the left arm to lift the medium-sized shoe from the table and set it on the mat",
+    "Pick the synthetic leather white shoe up from the table and drop it directly on the mat"
+  ],
+  "unseen": [
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode73.json b/place_shoe/demo_clean/instructions/episode73.json
new file mode 100644
index 0000000000000000000000000000000000000000..54bef9ac828ae04ed94c571cc84e85d2494d572e
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode73.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick the shoe with black heel patch off the table and move it onto the mat",
+    "Take the shoe with lace-up front and put it on the mat",
+    "Use the right arm to pick the soft rubber-soled white shoe and position it on the mat",
+    "Lift the the sleek white walking shoe from the table and place it onto the mat",
+    "Retrieve the shoe for everyday walking from the table and set it on the mat",
+    "Lift the shoe for everyday walking off the table using the right arm and drop it on the mat",
+    "Take the shoe for everyday walking from the table and position it on the mat",
+    "Pick up the shoe with black back detail from the table and set it on the mat",
+    "Lift the shoe with black heel patch from the table and place it carefully on the mat",
+    "Take the medium-sized casual shoe from the table and put it on the mat",
+    "Grab the the white shoe with rounded toe on the table and move it to the mat",
+    "Move the shoe with lace-up front from the table to the mat",
+    "Using the right arm, grasp the white and black combination shoe from the table and place it onto the mat",
+    "Pick the the white shoe off the table and position it on the mat",
+    "Lift the shoe with black heel patch and place it on the mat",
+    "Using the right arm, lift the shoe with black back detail from the table and place it onto the mat",
+    "Take the the shoe with black back detail from the table using the right arm and drop it on the mat",
+    "Grab the white shoe with curved sole using the right arm and drop it on the mat",
+    "Use the right arm to lift the the soft rubber-soled white shoe from the table and set it on the mat",
+    "Use the right arm to grab the soft rubber-soled white shoe and transfer it to the mat",
+    "With the right arm, grab the shoe with black back detail off the table and place it onto the mat",
+    "Use the right arm to lift the soft rubber-soled white shoe from the table and set it on the mat",
+    "Take the the shoe with black heel patch off the table and put it on the mat",
+    "Pick up the medium-sized casual shoe with the right arm from the table and place it on the mat",
+    "Grab the shoe for everyday walking from the table and place it on the mat",
+    "Grab the medium-sized casual shoe from the table with the right arm and place it on the mat",
+    "Transfer the white shoe with rounded toe from the table to the mat",
+    "Use the right arm to lift the white shoe with rounded toe from the table and set it on the mat",
+    "Pick the shoe with black back detail up from the table and drop it directly on the mat",
+    "Use the right arm to grab the the shoe for everyday walking and put it on the mat",
+    "Use the right arm to grab the the shoe for everyday walking from the table and set it on the mat",
+    "Lift the medium-sized casual shoe using the right arm from the table and place it on the mat",
+    "Lift the the sleek white walking shoe from the table using the right arm and place it on the mat",
+    "Grab the white shoe with curved sole using the right arm, move it from the table to the mat",
+    "With the right arm, pick the shoe for everyday walking up from the table and put it on the mat",
+    "Lift the white shoe with rounded toe from the table and gently place it onto the mat",
+    "Use the right arm to pick up the soft rubber-soled white shoe from the table and drop it on the mat",
+    "Move the sleek white walking shoe from the table to the mat",
+    "Take the shoe with lace-up front with the right arm and place it carefully on the mat",
+    "Pick the the synthetic leather white shoe from the table and place it gently on the mat",
+    "Use the right arm to grab the sleek white walking shoe from the table and move it to the mat",
+    "Pick up the shoe with lace-up front with the right arm, move it from the table, and set it on the mat",
+    "With the right arm, grab the white shoe with curved sole from the table and place it on the mat",
+    "Remove the shoe with black heel patch from the table and lay it on the mat",
+    "Move the white shoe with rounded toe from the table and place it down on the mat",
+    "Pick up the white shoe and move it to the mat",
+    "Pick the sleek white walking shoe up from the table and put it on the mat",
+    "Move the synthetic leather white shoe from the table to the mat in one fluid motion",
+    "Take the soft rubber-soled white shoe from the table and place it on the mat",
+    "Take the shoe for everyday walking from the table and carefully drop it on the mat",
+    "Use the right arm to pick the white shoe off the table and move it onto the mat",
+    "Take the sleek white walking shoe and put it on the mat",
+    "Use the right arm to pick the shoe for everyday walking and position it on the mat",
+    "Lift the the sleek white walking shoe from the table and place it onto the mat",
+    "Retrieve the shoe for everyday walking from the table and set it on the mat",
+    "Lift the soft rubber-soled white shoe off the table using the right arm and drop it on the mat",
+    "Take the medium-sized casual shoe from the table and position it on the mat",
+    "Pick up the medium-sized casual shoe from the table and set it on the mat",
+    "Lift the white shoe with curved sole from the table and place it carefully on the mat",
+    "Take the white shoe with rounded toe from the table and put it on the mat",
+    "Grab the the white and black combination shoe on the table and move it to the mat",
+    "Move the soft rubber-soled white shoe from the table to the mat",
+    "Using the right arm, grasp the white shoe with rounded toe from the table and place it onto the mat",
+    "Pick the the sleek white walking shoe off the table and position it on the mat",
+    "Lift the shoe with black heel patch and place it on the mat",
+    "Using the right arm, lift the medium-sized casual shoe from the table and place it onto the mat",
+    "Take the the shoe with lace-up front from the table using the right arm and drop it on the mat",
+    "Grab the sleek white walking shoe using the right arm and drop it on the mat",
+    "Use the right arm to lift the the soft rubber-soled white shoe from the table and set it on the mat",
+    "Use the right arm to grab the shoe for everyday walking and transfer it to the mat",
+    "With the right arm, grab the medium-sized casual shoe off the table and place it onto the mat",
+    "Use the right arm to lift the white shoe with curved sole from the table and set it on the mat",
+    "Take the the shoe with black back detail off the table and put it on the mat",
+    "Pick up the white shoe with curved sole with the right arm from the table and place it on the mat",
+    "Grab the shoe with black heel patch from the table and place it on the mat",
+    "Grab the shoe with lace-up front from the table with the right arm and place it on the mat",
+    "Transfer the medium-sized casual shoe from the table to the mat",
+    "Use the right arm to lift the white shoe from the table and set it on the mat",
+    "Pick the sleek white walking shoe up from the table and drop it directly on the mat",
+    "Use the right arm to grab the the shoe with lace-up front and put it on the mat",
+    "Use the right arm to grab the the white shoe with rounded toe from the table and set it on the mat",
+    "Lift the shoe with lace-up front using the right arm from the table and place it on the mat",
+    "Lift the the white and black combination shoe from the table using the right arm and place it on the mat",
+    "Grab the shoe with lace-up front using the right arm, move it from the table to the mat",
+    "With the right arm, pick the shoe with black heel patch up from the table and put it on the mat",
+    "Lift the white and black combination shoe from the table and gently place it onto the mat",
+    "Use the right arm to pick up the soft rubber-soled white shoe from the table and drop it on the mat",
+    "Move the white shoe with rounded toe from the table to the mat",
+    "Take the shoe for everyday walking with the right arm and place it carefully on the mat",
+    "Pick the the medium-sized casual shoe from the table and place it gently on the mat",
+    "Use the right arm to grab the medium-sized casual shoe from the table and move it to the mat",
+    "Pick up the soft rubber-soled white shoe with the right arm, move it from the table, and set it on the mat",
+    "With the right arm, grab the white shoe from the table and place it on the mat",
+    "Remove the sleek white walking shoe from the table and lay it on the mat",
+    "Move the shoe for everyday walking from the table and place it down on the mat",
+    "Pick up the sleek white walking shoe and move it to the mat",
+    "Pick the white and black combination shoe up from the table and put it on the mat",
+    "Move the white shoe from the table to the mat in one fluid motion",
+    "Take the white shoe with curved sole from the table and place it on the mat",
+    "Take the white shoe with rounded toe from the table and carefully drop it on the mat"
+  ],
+  "unseen": [
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode74.json b/place_shoe/demo_clean/instructions/episode74.json
new file mode 100644
index 0000000000000000000000000000000000000000..55ce3334d5cc35b3acc24b53fae54f368d0850e9
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode74.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the shoe with smooth top and grippy sole from the table to the mat",
+    "Retrieve the average adult-sized shoe from the table and set it on the mat",
+    "Pick the black shoe with white accents up from the table and put it on the mat",
+    "Lift the medium-sized black and white shoe off the table using the right arm and drop it on the mat",
+    "Move the shoe with curved sole from the table and place it down on the mat",
+    "Take the rubber-soled shoe with lace-up top from the table and place it on the mat",
+    "Pick the synthetic leather shoe up from the table and drop it directly on the mat",
+    "Pick the the wearable foot protector shoe from the table and place it gently on the mat",
+    "Use the right arm to grab the dual-tone shoe with sleek design and transfer it to the mat",
+    "Move the synthetic leather shoe from the table to the mat",
+    "Grab the average adult-sized shoe from the table with the right arm and place it on the mat",
+    "Take the the medium-sized black and white shoe off the table and put it on the mat",
+    "Transfer the shoe with smooth top and grippy sole from the table to the mat",
+    "With the right arm, grab the rubber-soled shoe with lace-up top from the table and place it on the mat",
+    "Lift the shoe with smooth top and grippy sole and place it on the mat",
+    "Use the right arm to pick the synthetic leather shoe off the table and move it onto the mat",
+    "Use the right arm to grab the comfortable shoe for walking from the table and move it to the mat",
+    "Grab the black shoe with white accents using the right arm, move it from the table to the mat",
+    "Use the right arm to grab the the average adult-sized shoe and put it on the mat",
+    "Use the right arm to lift the the shoe with smooth top and grippy sole from the table and set it on the mat",
+    "Take the rubber-soled shoe with lace-up top from the table and put it on the mat",
+    "Lift the the medium-sized black and white shoe from the table using the right arm and place it on the mat",
+    "Lift the synthetic leather shoe from the table and place it carefully on the mat",
+    "Using the right arm, grasp the shoe made of rubber and leather from the table and place it onto the mat",
+    "Using the right arm, lift the comfortable shoe for walking from the table and place it onto the mat",
+    "Grab the the average adult-sized shoe on the table and move it to the mat",
+    "Lift the black shoe with white accents using the right arm from the table and place it on the mat",
+    "With the right arm, pick the shoe with curved sole up from the table and put it on the mat",
+    "Pick up the comfortable shoe for walking with the right arm from the table and place it on the mat",
+    "Take the rubber-soled shoe with lace-up top from the table and position it on the mat",
+    "Use the right arm to pick the shoe with smooth top and grippy sole and position it on the mat",
+    "Take the the synthetic leather shoe from the table using the right arm and drop it on the mat",
+    "With the right arm, grab the shoe with curved sole off the table and place it onto the mat",
+    "Move the dual-tone shoe with sleek design from the table to the mat in one fluid motion",
+    "Lift the the black and white shoe from the table and place it onto the mat",
+    "Use the right arm to lift the shoe made of rubber and leather from the table and set it on the mat",
+    "Remove the wearable foot protector shoe from the table and lay it on the mat",
+    "Pick up the comfortable shoe for walking with the right arm, move it from the table, and set it on the mat",
+    "Grab the black shoe with white accents from the table and place it on the mat",
+    "Pick up the synthetic leather shoe and move it to the mat",
+    "Take the black and white shoe and put it on the mat",
+    "Pick up the shoe with curved sole from the table and set it on the mat",
+    "Lift the comfortable shoe for walking from the table and gently place it onto the mat",
+    "Use the right arm to grab the the shoe with smooth top and grippy sole from the table and set it on the mat",
+    "Take the wearable foot protector shoe with the right arm and place it carefully on the mat",
+    "Grab the average adult-sized shoe using the right arm and drop it on the mat",
+    "Pick the the black and white shoe off the table and position it on the mat",
+    "Take the medium-sized black and white shoe from the table and carefully drop it on the mat",
+    "Use the right arm to pick up the shoe made of rubber and leather from the table and drop it on the mat",
+    "Use the right arm to lift the black shoe with white accents from the table and set it on the mat",
+    "Move the shoe with smooth top and grippy sole from the table to the mat",
+    "Retrieve the shoe made of rubber and leather from the table and set it on the mat",
+    "Pick the average adult-sized shoe up from the table and put it on the mat",
+    "Lift the average adult-sized shoe off the table using the right arm and drop it on the mat",
+    "Move the black shoe with white accents from the table and place it down on the mat",
+    "Take the shoe made of rubber and leather from the table and place it on the mat",
+    "Pick the wearable foot protector shoe up from the table and drop it directly on the mat",
+    "Pick the the dual-tone shoe with sleek design from the table and place it gently on the mat",
+    "Use the right arm to grab the comfortable shoe for walking and transfer it to the mat",
+    "Move the rubber-soled shoe with lace-up top from the table to the mat",
+    "Grab the comfortable shoe for walking from the table with the right arm and place it on the mat",
+    "Take the the black and white shoe off the table and put it on the mat",
+    "Transfer the shoe made of rubber and leather from the table to the mat",
+    "With the right arm, grab the shoe with smooth top and grippy sole from the table and place it on the mat",
+    "Lift the shoe with smooth top and grippy sole and place it on the mat",
+    "Use the right arm to pick the black shoe with white accents off the table and move it onto the mat",
+    "Use the right arm to grab the shoe with curved sole from the table and move it to the mat",
+    "Grab the wearable foot protector shoe using the right arm, move it from the table to the mat",
+    "Use the right arm to grab the the shoe with curved sole and put it on the mat",
+    "Use the right arm to lift the the average adult-sized shoe from the table and set it on the mat",
+    "Take the shoe with curved sole from the table and put it on the mat",
+    "Lift the the comfortable shoe for walking from the table using the right arm and place it on the mat",
+    "Lift the black shoe with white accents from the table and place it carefully on the mat",
+    "Using the right arm, grasp the comfortable shoe for walking from the table and place it onto the mat",
+    "Using the right arm, lift the black and white shoe from the table and place it onto the mat",
+    "Grab the the black and white shoe on the table and move it to the mat",
+    "Lift the synthetic leather shoe using the right arm from the table and place it on the mat",
+    "With the right arm, pick the wearable foot protector shoe up from the table and put it on the mat",
+    "Pick up the average adult-sized shoe with the right arm from the table and place it on the mat",
+    "Take the medium-sized black and white shoe from the table and position it on the mat",
+    "Use the right arm to pick the black and white shoe and position it on the mat",
+    "Take the the shoe with curved sole from the table using the right arm and drop it on the mat",
+    "With the right arm, grab the shoe with curved sole off the table and place it onto the mat",
+    "Move the shoe made of rubber and leather from the table to the mat in one fluid motion",
+    "Lift the the synthetic leather shoe from the table and place it onto the mat",
+    "Use the right arm to lift the dual-tone shoe with sleek design from the table and set it on the mat",
+    "Remove the rubber-soled shoe with lace-up top from the table and lay it on the mat",
+    "Pick up the medium-sized black and white shoe with the right arm, move it from the table, and set it on the mat",
+    "Grab the shoe with smooth top and grippy sole from the table and place it on the mat",
+    "Pick up the comfortable shoe for walking and move it to the mat",
+    "Take the comfortable shoe for walking and put it on the mat",
+    "Pick up the medium-sized black and white shoe from the table and set it on the mat",
+    "Lift the wearable foot protector shoe from the table and gently place it onto the mat",
+    "Use the right arm to grab the the black shoe with white accents from the table and set it on the mat",
+    "Take the shoe with curved sole with the right arm and place it carefully on the mat",
+    "Grab the black and white shoe using the right arm and drop it on the mat",
+    "Pick the the black shoe with white accents off the table and position it on the mat",
+    "Take the synthetic leather shoe from the table and carefully drop it on the mat",
+    "Use the right arm to pick up the dual-tone shoe with sleek design from the table and drop it on the mat",
+    "Use the right arm to lift the comfortable shoe for walking from the table and set it on the mat"
+  ],
+  "unseen": [
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Use the right arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Use the right arm to lift the black shoe with white midsole and drop it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Use the right arm to lift the black shoe with white midsole and drop it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Use the right arm to lift the black shoe with white midsole and drop it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Use the right arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Use the right arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Use the right arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode75.json b/place_shoe/demo_clean/instructions/episode75.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ebe99a69ad31353b8d4edb06a0c96464b096db3
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode75.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium-sized shoe with the left arm from the table and place it on the mat",
+    "Move the medium-sized shoe from the table to the mat in one fluid motion",
+    "Use the left arm to pick up the rubber-soled black-striped shoe from the table and drop it on the mat",
+    "Move the rounded-top white shoe from the table and place it down on the mat",
+    "Transfer the white shoe with black lines from the table to the mat",
+    "Use the left arm to grab the the medium-sized shoe from the table and set it on the mat",
+    "With the left arm, pick the white shoe with curved top up from the table and put it on the mat",
+    "Lift the rounded-top white shoe from the table and gently place it onto the mat",
+    "Pick up the rubber-soled black-striped shoe with the left arm, move it from the table, and set it on the mat",
+    "Grab the medium shoe with synthetic material from the table and place it on the mat",
+    "Take the white shoe with curved top with the left arm and place it carefully on the mat",
+    "Use the left arm to lift the medium shoe with synthetic material from the table and set it on the mat",
+    "Use the left arm to grab the smooth surface white shoe from the table and move it to the mat",
+    "Use the left arm to grab the medium-sized shoe and transfer it to the mat",
+    "Pick the white shoe with three stripes up from the table and put it on the mat",
+    "Use the left arm to pick the smooth surface white shoe and position it on the mat",
+    "Retrieve the rubber-soled black-striped shoe from the table and set it on the mat",
+    "Lift the sports shoe white and black off the table using the left arm and drop it on the mat",
+    "Lift the the white shoe with three stripes from the table and place it onto the mat",
+    "Use the left arm to grab the the smooth surface white shoe and put it on the mat",
+    "Move the white shoe with black lines from the table to the mat",
+    "Take the white shoe with curved top from the table and put it on the mat",
+    "Take the medium shoe with synthetic material from the table and place it on the mat",
+    "Take the the white shoe with black lines off the table and put it on the mat",
+    "Take the the white shoe from the table using the left arm and drop it on the mat",
+    "Use the left arm to lift the white shoe with curved top from the table and set it on the mat",
+    "Grab the the smooth surface white shoe on the table and move it to the mat",
+    "With the left arm, grab the rubber-soled black-striped shoe from the table and place it on the mat",
+    "Lift the smooth surface white shoe from the table and place it carefully on the mat",
+    "Move the rounded-top white shoe from the table to the mat",
+    "Pick up the sports shoe white and black and move it to the mat",
+    "Grab the medium shoe with synthetic material from the table with the left arm and place it on the mat",
+    "Remove the white shoe with three stripes from the table and lay it on the mat",
+    "Pick the the medium-sized shoe from the table and place it gently on the mat",
+    "Use the left arm to lift the the shoe with black accents from the table and set it on the mat",
+    "Take the white shoe and put it on the mat",
+    "Grab the sports shoe white and black using the left arm, move it from the table to the mat",
+    "Pick the medium-sized shoe up from the table and drop it directly on the mat",
+    "Lift the white shoe with black lines using the left arm from the table and place it on the mat",
+    "With the left arm, grab the shoe with black accents off the table and place it onto the mat",
+    "Use the left arm to pick the medium-sized shoe off the table and move it onto the mat",
+    "Take the white shoe with curved top from the table and position it on the mat",
+    "Grab the smooth surface white shoe using the left arm and drop it on the mat",
+    "Pick up the synthetic leather white shoe from the table and set it on the mat",
+    "Take the shoe with black accents from the table and carefully drop it on the mat",
+    "Using the left arm, grasp the smooth surface white shoe from the table and place it onto the mat",
+    "Pick the the rubber-soled black-striped shoe off the table and position it on the mat",
+    "Using the left arm, lift the white shoe with curved top from the table and place it onto the mat",
+    "Lift the the rubber-soled black-striped shoe from the table using the left arm and place it on the mat",
+    "Lift the medium-sized shoe and place it on the mat",
+    "Pick up the medium-sized shoe with the left arm from the table and place it on the mat",
+    "Move the white shoe with curved top from the table to the mat in one fluid motion",
+    "Use the left arm to pick up the rounded-top white shoe from the table and drop it on the mat",
+    "Move the medium shoe with synthetic material from the table and place it down on the mat",
+    "Transfer the white shoe with black lines from the table to the mat",
+    "Use the left arm to grab the the rubber-soled black-striped shoe from the table and set it on the mat",
+    "With the left arm, pick the white shoe up from the table and put it on the mat",
+    "Lift the white shoe with curved top from the table and gently place it onto the mat",
+    "Pick up the synthetic leather white shoe with the left arm, move it from the table, and set it on the mat",
+    "Grab the sports shoe white and black from the table and place it on the mat",
+    "Take the medium-sized shoe with the left arm and place it carefully on the mat",
+    "Use the left arm to lift the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the synthetic leather white shoe from the table and move it to the mat",
+    "Use the left arm to grab the medium-sized shoe and transfer it to the mat",
+    "Pick the white shoe up from the table and put it on the mat",
+    "Use the left arm to pick the smooth surface white shoe and position it on the mat",
+    "Retrieve the medium-sized shoe from the table and set it on the mat",
+    "Lift the shoe with black accents off the table using the left arm and drop it on the mat",
+    "Lift the the rubber-soled black-striped shoe from the table and place it onto the mat",
+    "Use the left arm to grab the the shoe with black accents and put it on the mat",
+    "Move the white shoe with three stripes from the table to the mat",
+    "Take the rounded-top white shoe from the table and put it on the mat",
+    "Take the medium shoe with synthetic material from the table and place it on the mat",
+    "Take the the rubber-soled black-striped shoe off the table and put it on the mat",
+    "Take the the rounded-top white shoe from the table using the left arm and drop it on the mat",
+    "Use the left arm to lift the white shoe from the table and set it on the mat",
+    "Grab the the smooth surface white shoe on the table and move it to the mat",
+    "With the left arm, grab the medium-sized shoe from the table and place it on the mat",
+    "Lift the white shoe from the table and place it carefully on the mat",
+    "Move the white shoe with black lines from the table to the mat",
+    "Pick up the white shoe with black lines and move it to the mat",
+    "Grab the white shoe with three stripes from the table with the left arm and place it on the mat",
+    "Remove the white shoe with black lines from the table and lay it on the mat",
+    "Pick the the rubber-soled black-striped shoe from the table and place it gently on the mat",
+    "Use the left arm to lift the the smooth surface white shoe from the table and set it on the mat",
+    "Take the white shoe with three stripes and put it on the mat",
+    "Grab the medium shoe with synthetic material using the left arm, move it from the table to the mat",
+    "Pick the white shoe up from the table and drop it directly on the mat",
+    "Lift the shoe with black accents using the left arm from the table and place it on the mat",
+    "With the left arm, grab the rounded-top white shoe off the table and place it onto the mat",
+    "Use the left arm to pick the synthetic leather white shoe off the table and move it onto the mat",
+    "Take the white shoe with three stripes from the table and position it on the mat",
+    "Grab the medium-sized shoe using the left arm and drop it on the mat",
+    "Pick up the medium shoe with synthetic material from the table and set it on the mat",
+    "Take the white shoe with curved top from the table and carefully drop it on the mat",
+    "Using the left arm, grasp the smooth surface white shoe from the table and place it onto the mat",
+    "Pick the the white shoe with three stripes off the table and position it on the mat",
+    "Using the left arm, lift the sports shoe white and black from the table and place it onto the mat",
+    "Lift the the white shoe with three stripes from the table using the left arm and place it on the mat",
+    "Lift the white shoe with black lines and place it on the mat"
+  ],
+  "unseen": [
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode76.json b/place_shoe/demo_clean/instructions/episode76.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d8f3143e3f92c6517e148b34e593f4395dd6c94
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode76.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the shoe with curved sole up from the table and put it on the mat",
+    "Take the the white shoe with rubber sole off the table and put it on the mat",
+    "Transfer the rubber sole shoe from the table to the mat",
+    "Grab the white shoe with rubber sole using the left arm, move it from the table to the mat",
+    "Retrieve the shoe for walking from the table and set it on the mat",
+    "Lift the shoe with textured sole from the table and place it carefully on the mat",
+    "Lift the the shoe with patterned bottom from the table using the left arm and place it on the mat",
+    "Take the shoe with textured sole and put it on the mat",
+    "Use the left arm to grab the the smooth white shoe and put it on the mat",
+    "Take the the medium white shoe from the table using the left arm and drop it on the mat",
+    "Take the synthetic leather shoe with the left arm and place it carefully on the mat",
+    "Move the white shoe with rubber sole from the table to the mat",
+    "Pick the the shoe with lace holes off the table and position it on the mat",
+    "Pick up the shoe with textured sole and move it to the mat",
+    "With the left arm, pick the shoe with curved sole up from the table and put it on the mat",
+    "Use the left arm to pick up the medium-sized rounded white shoe from the table and drop it on the mat",
+    "Pick up the rubber sole shoe with the left arm from the table and place it on the mat",
+    "With the left arm, grab the white sneaker shoe from the table and place it on the mat",
+    "Pick the the smooth white shoe from the table and place it gently on the mat",
+    "Pick the medium-sized rounded white shoe up from the table and drop it directly on the mat",
+    "Take the shoe with patterned bottom from the table and carefully drop it on the mat",
+    "Grab the synthetic leather shoe from the table with the left arm and place it on the mat",
+    "Use the left arm to grab the rubber sole shoe from the table and move it to the mat",
+    "Pick up the shoe with lace holes with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to lift the shoe with patterned bottom from the table and set it on the mat",
+    "With the left arm, grab the shoe with textured sole off the table and place it onto the mat",
+    "Use the left arm to grab the synthetic leather shoe and transfer it to the mat",
+    "Grab the shoe for walking from the table and place it on the mat",
+    "Take the shoe with textured sole from the table and put it on the mat",
+    "Move the shoe with textured sole from the table to the mat",
+    "Use the left arm to pick the rubber sole shoe off the table and move it onto the mat",
+    "Pick up the white sneaker shoe from the table and set it on the mat",
+    "Move the shoe for walking from the table and place it down on the mat",
+    "Remove the shoe with patterned bottom from the table and lay it on the mat",
+    "Use the left arm to lift the the shoe with patterned bottom from the table and set it on the mat",
+    "Move the shoe with lace holes from the table to the mat in one fluid motion",
+    "Lift the shoe with curved sole off the table using the left arm and drop it on the mat",
+    "Using the left arm, grasp the medium-sized rounded white shoe from the table and place it onto the mat",
+    "Lift the smooth white shoe and place it on the mat",
+    "Grab the shoe with lace holes using the left arm and drop it on the mat",
+    "Use the left arm to pick the smooth white shoe and position it on the mat",
+    "Lift the white sneaker shoe from the table and gently place it onto the mat",
+    "Grab the the white shoe with rubber sole on the table and move it to the mat",
+    "Use the left arm to grab the the medium white shoe from the table and set it on the mat",
+    "Lift the the shoe with lace holes from the table and place it onto the mat",
+    "Lift the shoe with patterned bottom using the left arm from the table and place it on the mat",
+    "Take the medium white shoe from the table and place it on the mat",
+    "Using the left arm, lift the shoe for walking from the table and place it onto the mat",
+    "Use the left arm to lift the smooth white shoe from the table and set it on the mat",
+    "Take the medium white shoe from the table and position it on the mat",
+    "Pick the white sneaker shoe up from the table and put it on the mat",
+    "Take the the shoe with textured sole off the table and put it on the mat",
+    "Transfer the synthetic leather shoe from the table to the mat",
+    "Grab the smooth white shoe using the left arm, move it from the table to the mat",
+    "Retrieve the medium white shoe from the table and set it on the mat",
+    "Lift the white shoe with rubber sole from the table and place it carefully on the mat",
+    "Lift the the rubber sole shoe from the table using the left arm and place it on the mat",
+    "Take the medium white shoe and put it on the mat",
+    "Use the left arm to grab the the shoe with textured sole and put it on the mat",
+    "Take the the shoe with patterned bottom from the table using the left arm and drop it on the mat",
+    "Take the shoe with textured sole with the left arm and place it carefully on the mat",
+    "Move the medium-sized rounded white shoe from the table to the mat",
+    "Pick the the shoe with curved sole off the table and position it on the mat",
+    "Pick up the smooth white shoe and move it to the mat",
+    "With the left arm, pick the rubber sole shoe up from the table and put it on the mat",
+    "Use the left arm to pick up the smooth white shoe from the table and drop it on the mat",
+    "Pick up the shoe for walking with the left arm from the table and place it on the mat",
+    "With the left arm, grab the medium white shoe from the table and place it on the mat",
+    "Pick the the shoe with patterned bottom from the table and place it gently on the mat",
+    "Pick the shoe with textured sole up from the table and drop it directly on the mat",
+    "Take the shoe with curved sole from the table and carefully drop it on the mat",
+    "Grab the shoe with lace holes from the table with the left arm and place it on the mat",
+    "Use the left arm to grab the shoe with textured sole from the table and move it to the mat",
+    "Pick up the shoe with curved sole with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to lift the medium-sized rounded white shoe from the table and set it on the mat",
+    "With the left arm, grab the shoe with curved sole off the table and place it onto the mat",
+    "Use the left arm to grab the rubber sole shoe and transfer it to the mat",
+    "Grab the shoe with curved sole from the table and place it on the mat",
+    "Take the white shoe with rubber sole from the table and put it on the mat",
+    "Move the medium white shoe from the table to the mat",
+    "Use the left arm to pick the shoe with lace holes off the table and move it onto the mat",
+    "Pick up the shoe with curved sole from the table and set it on the mat",
+    "Move the shoe with textured sole from the table and place it down on the mat",
+    "Remove the shoe for walking from the table and lay it on the mat",
+    "Use the left arm to lift the the shoe with curved sole from the table and set it on the mat",
+    "Move the synthetic leather shoe from the table to the mat in one fluid motion",
+    "Lift the shoe with textured sole off the table using the left arm and drop it on the mat",
+    "Using the left arm, grasp the shoe with lace holes from the table and place it onto the mat",
+    "Lift the white shoe with rubber sole and place it on the mat",
+    "Grab the smooth white shoe using the left arm and drop it on the mat",
+    "Use the left arm to pick the medium white shoe and position it on the mat",
+    "Lift the shoe with lace holes from the table and gently place it onto the mat",
+    "Grab the the medium white shoe on the table and move it to the mat",
+    "Use the left arm to grab the the synthetic leather shoe from the table and set it on the mat",
+    "Lift the the white sneaker shoe from the table and place it onto the mat",
+    "Lift the rubber sole shoe using the left arm from the table and place it on the mat",
+    "Take the shoe with lace holes from the table and place it on the mat",
+    "Using the left arm, lift the rubber sole shoe from the table and place it onto the mat",
+    "Use the left arm to lift the shoe with curved sole from the table and set it on the mat",
+    "Take the medium white shoe from the table and position it on the mat"
+  ],
+  "unseen": [
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode77.json b/place_shoe/demo_clean/instructions/episode77.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b314e3829213d9f9d9214364322b80bf89369e7
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode77.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, pick the shoe with textured sole up from the table and put it on the mat",
+    "Lift the shoe with patterned bottom off the table using the left arm and drop it on the mat",
+    "Using the left arm, grasp the shoe for walking from the table and place it onto the mat",
+    "Retrieve the smooth white shoe from the table and set it on the mat",
+    "Take the medium-sized rounded white shoe with the left arm and place it carefully on the mat",
+    "Remove the shoe with patterned bottom from the table and lay it on the mat",
+    "With the left arm, grab the medium white shoe from the table and place it on the mat",
+    "Pick the the medium white shoe off the table and position it on the mat",
+    "Lift the synthetic leather shoe and place it on the mat",
+    "Lift the the shoe with textured sole from the table and place it onto the mat",
+    "Lift the the shoe for walking from the table using the left arm and place it on the mat",
+    "Grab the shoe with textured sole using the left arm, move it from the table to the mat",
+    "Take the medium white shoe from the table and carefully drop it on the mat",
+    "Pick up the white sneaker shoe with the left arm from the table and place it on the mat",
+    "Take the medium white shoe from the table and put it on the mat",
+    "Use the left arm to pick the medium-sized rounded white shoe off the table and move it onto the mat",
+    "Use the left arm to lift the the rubber sole shoe from the table and set it on the mat",
+    "Use the left arm to grab the the smooth white shoe and put it on the mat",
+    "Use the left arm to lift the smooth white shoe from the table and set it on the mat",
+    "Take the the white sneaker shoe from the table using the left arm and drop it on the mat",
+    "Use the left arm to grab the white sneaker shoe and transfer it to the mat",
+    "Grab the the medium white shoe on the table and move it to the mat",
+    "Pick the the white sneaker shoe from the table and place it gently on the mat",
+    "Use the left arm to grab the the medium white shoe from the table and set it on the mat",
+    "Use the left arm to pick the medium-sized rounded white shoe and position it on the mat",
+    "Grab the rubber sole shoe from the table with the left arm and place it on the mat",
+    "Pick up the medium white shoe from the table and set it on the mat",
+    "Move the shoe with curved sole from the table to the mat",
+    "Grab the medium white shoe from the table and place it on the mat",
+    "Pick up the rubber sole shoe and move it to the mat",
+    "Pick up the shoe with curved sole with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to lift the white sneaker shoe from the table and set it on the mat",
+    "Take the shoe with patterned bottom and put it on the mat",
+    "Use the left arm to grab the shoe with patterned bottom from the table and move it to the mat",
+    "Transfer the rubber sole shoe from the table to the mat",
+    "Using the left arm, lift the white shoe with rubber sole from the table and place it onto the mat",
+    "Take the synthetic leather shoe from the table and place it on the mat",
+    "Pick the shoe with curved sole up from the table and drop it directly on the mat",
+    "Lift the shoe with curved sole using the left arm from the table and place it on the mat",
+    "Pick the shoe with curved sole up from the table and put it on the mat",
+    "Take the the shoe for walking off the table and put it on the mat",
+    "Lift the white sneaker shoe from the table and gently place it onto the mat",
+    "Use the left arm to pick up the shoe with curved sole from the table and drop it on the mat",
+    "With the left arm, grab the smooth white shoe off the table and place it onto the mat",
+    "Grab the white sneaker shoe using the left arm and drop it on the mat",
+    "Lift the white shoe with rubber sole from the table and place it carefully on the mat",
+    "Move the medium-sized rounded white shoe from the table to the mat",
+    "Take the synthetic leather shoe from the table and position it on the mat",
+    "Move the shoe with textured sole from the table to the mat in one fluid motion",
+    "Move the synthetic leather shoe from the table and place it down on the mat",
+    "With the left arm, pick the medium white shoe up from the table and put it on the mat",
+    "Lift the medium white shoe off the table using the left arm and drop it on the mat",
+    "Using the left arm, grasp the shoe for walking from the table and place it onto the mat",
+    "Retrieve the shoe with curved sole from the table and set it on the mat",
+    "Take the rubber sole shoe with the left arm and place it carefully on the mat",
+    "Remove the rubber sole shoe from the table and lay it on the mat",
+    "With the left arm, grab the shoe with lace holes from the table and place it on the mat",
+    "Pick the the synthetic leather shoe off the table and position it on the mat",
+    "Lift the white sneaker shoe and place it on the mat",
+    "Lift the the shoe with patterned bottom from the table and place it onto the mat",
+    "Lift the the smooth white shoe from the table using the left arm and place it on the mat",
+    "Grab the shoe for walking using the left arm, move it from the table to the mat",
+    "Take the shoe with textured sole from the table and carefully drop it on the mat",
+    "Pick up the medium-sized rounded white shoe with the left arm from the table and place it on the mat",
+    "Take the shoe with patterned bottom from the table and put it on the mat",
+    "Use the left arm to pick the rubber sole shoe off the table and move it onto the mat",
+    "Use the left arm to lift the the shoe for walking from the table and set it on the mat",
+    "Use the left arm to grab the the shoe for walking and put it on the mat",
+    "Use the left arm to lift the shoe with textured sole from the table and set it on the mat",
+    "Take the the shoe for walking from the table using the left arm and drop it on the mat",
+    "Use the left arm to grab the medium-sized rounded white shoe and transfer it to the mat",
+    "Grab the the white shoe with rubber sole on the table and move it to the mat",
+    "Pick the the shoe with textured sole from the table and place it gently on the mat",
+    "Use the left arm to grab the the shoe for walking from the table and set it on the mat",
+    "Use the left arm to pick the synthetic leather shoe and position it on the mat",
+    "Grab the smooth white shoe from the table with the left arm and place it on the mat",
+    "Pick up the medium white shoe from the table and set it on the mat",
+    "Move the white shoe with rubber sole from the table to the mat",
+    "Grab the rubber sole shoe from the table and place it on the mat",
+    "Pick up the shoe with patterned bottom and move it to the mat",
+    "Pick up the synthetic leather shoe with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to lift the shoe with lace holes from the table and set it on the mat",
+    "Take the smooth white shoe and put it on the mat",
+    "Use the left arm to grab the shoe with lace holes from the table and move it to the mat",
+    "Transfer the shoe with lace holes from the table to the mat",
+    "Using the left arm, lift the shoe for walking from the table and place it onto the mat",
+    "Take the shoe with curved sole from the table and place it on the mat",
+    "Pick the smooth white shoe up from the table and drop it directly on the mat",
+    "Lift the white sneaker shoe using the left arm from the table and place it on the mat",
+    "Pick the white shoe with rubber sole up from the table and put it on the mat",
+    "Take the the shoe with textured sole off the table and put it on the mat",
+    "Lift the rubber sole shoe from the table and gently place it onto the mat",
+    "Use the left arm to pick up the white shoe with rubber sole from the table and drop it on the mat",
+    "With the left arm, grab the smooth white shoe off the table and place it onto the mat",
+    "Grab the shoe with curved sole using the left arm and drop it on the mat",
+    "Lift the medium white shoe from the table and place it carefully on the mat",
+    "Move the rubber sole shoe from the table to the mat",
+    "Take the shoe with curved sole from the table and position it on the mat",
+    "Move the medium-sized rounded white shoe from the table to the mat in one fluid motion",
+    "Move the medium white shoe from the table and place it down on the mat"
+  ],
+  "unseen": [
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode78.json b/place_shoe/demo_clean/instructions/episode78.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1a0ca3f447fd229fc7344b4965592d45f653b98
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode78.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the shoe with lace holes from the table and place it on the mat",
+    "Lift the the synthetic leather shoe from the table and place it onto the mat",
+    "Take the medium white shoe from the table and carefully drop it on the mat",
+    "Pick up the medium-sized rounded white shoe from the table and set it on the mat",
+    "Take the synthetic leather shoe from the table and put it on the mat",
+    "Use the right arm to grab the shoe with lace holes from the table and move it to the mat",
+    "Take the medium-sized rounded white shoe from the table and position it on the mat",
+    "Pick up the synthetic leather shoe with the right arm, move it from the table, and set it on the mat",
+    "Grab the white shoe with rubber sole using the right arm, move it from the table to the mat",
+    "Use the right arm to pick up the shoe with patterned bottom from the table and drop it on the mat",
+    "Pick the smooth white shoe up from the table and drop it directly on the mat",
+    "Pick up the white sneaker shoe and move it to the mat",
+    "Use the right arm to pick the medium white shoe and position it on the mat",
+    "Pick up the shoe with lace holes with the right arm from the table and place it on the mat",
+    "Use the right arm to pick the shoe with patterned bottom off the table and move it onto the mat",
+    "With the right arm, pick the medium-sized rounded white shoe up from the table and put it on the mat",
+    "Pick the white shoe with rubber sole up from the table and put it on the mat",
+    "Move the shoe with curved sole from the table and place it down on the mat",
+    "Take the white sneaker shoe and put it on the mat",
+    "Lift the medium white shoe using the right arm from the table and place it on the mat",
+    "Remove the white sneaker shoe from the table and lay it on the mat",
+    "Lift the white shoe with rubber sole from the table and place it carefully on the mat",
+    "Lift the the synthetic leather shoe from the table using the right arm and place it on the mat",
+    "Use the right arm to grab the the medium-sized rounded white shoe from the table and set it on the mat",
+    "Retrieve the white shoe with rubber sole from the table and set it on the mat",
+    "Move the smooth white shoe from the table to the mat in one fluid motion",
+    "Use the right arm to grab the the shoe with patterned bottom and put it on the mat",
+    "Using the right arm, grasp the shoe with curved sole from the table and place it onto the mat",
+    "Move the smooth white shoe from the table to the mat",
+    "Take the shoe with lace holes with the right arm and place it carefully on the mat",
+    "Transfer the medium-sized rounded white shoe from the table to the mat",
+    "Grab the the rubber sole shoe on the table and move it to the mat",
+    "Use the right arm to grab the shoe with curved sole and transfer it to the mat",
+    "With the right arm, grab the shoe with patterned bottom from the table and place it on the mat",
+    "Move the shoe with patterned bottom from the table to the mat",
+    "Lift the shoe with textured sole and place it on the mat",
+    "Grab the shoe with textured sole from the table and place it on the mat",
+    "Lift the shoe with curved sole from the table and gently place it onto the mat",
+    "Use the right arm to lift the the white shoe with rubber sole from the table and set it on the mat",
+    "Using the right arm, lift the shoe for walking from the table and place it onto the mat",
+    "Grab the white sneaker shoe using the right arm and drop it on the mat",
+    "Use the right arm to lift the medium white shoe from the table and set it on the mat",
+    "Use the right arm to lift the white sneaker shoe from the table and set it on the mat",
+    "Grab the rubber sole shoe from the table with the right arm and place it on the mat",
+    "Lift the shoe with curved sole off the table using the right arm and drop it on the mat",
+    "Take the the shoe with textured sole from the table using the right arm and drop it on the mat",
+    "Pick the the smooth white shoe off the table and position it on the mat",
+    "Take the the shoe for walking off the table and put it on the mat",
+    "With the right arm, grab the medium white shoe off the table and place it onto the mat",
+    "Pick the the shoe with lace holes from the table and place it gently on the mat",
+    "Take the shoe for walking from the table and place it on the mat",
+    "Lift the the medium white shoe from the table and place it onto the mat",
+    "Take the shoe with textured sole from the table and carefully drop it on the mat",
+    "Pick up the rubber sole shoe from the table and set it on the mat",
+    "Take the synthetic leather shoe from the table and put it on the mat",
+    "Use the right arm to grab the shoe with textured sole from the table and move it to the mat",
+    "Take the shoe with textured sole from the table and position it on the mat",
+    "Pick up the shoe for walking with the right arm, move it from the table, and set it on the mat",
+    "Grab the rubber sole shoe using the right arm, move it from the table to the mat",
+    "Use the right arm to pick up the shoe with lace holes from the table and drop it on the mat",
+    "Pick the smooth white shoe up from the table and drop it directly on the mat",
+    "Pick up the shoe with curved sole and move it to the mat",
+    "Use the right arm to pick the shoe with curved sole and position it on the mat",
+    "Pick up the shoe with patterned bottom with the right arm from the table and place it on the mat",
+    "Use the right arm to pick the shoe with curved sole off the table and move it onto the mat",
+    "With the right arm, pick the medium white shoe up from the table and put it on the mat",
+    "Pick the medium-sized rounded white shoe up from the table and put it on the mat",
+    "Move the medium-sized rounded white shoe from the table and place it down on the mat",
+    "Take the shoe with textured sole and put it on the mat",
+    "Lift the rubber sole shoe using the right arm from the table and place it on the mat",
+    "Remove the shoe with lace holes from the table and lay it on the mat",
+    "Lift the shoe with curved sole from the table and place it carefully on the mat",
+    "Lift the the white sneaker shoe from the table using the right arm and place it on the mat",
+    "Use the right arm to grab the the shoe for walking from the table and set it on the mat",
+    "Retrieve the shoe for walking from the table and set it on the mat",
+    "Move the shoe with lace holes from the table to the mat in one fluid motion",
+    "Use the right arm to grab the the white shoe with rubber sole and put it on the mat",
+    "Using the right arm, grasp the rubber sole shoe from the table and place it onto the mat",
+    "Move the shoe with textured sole from the table to the mat",
+    "Take the shoe with curved sole with the right arm and place it carefully on the mat",
+    "Transfer the shoe for walking from the table to the mat",
+    "Grab the the shoe with curved sole on the table and move it to the mat",
+    "Use the right arm to grab the white shoe with rubber sole and transfer it to the mat",
+    "With the right arm, grab the shoe with textured sole from the table and place it on the mat",
+    "Move the white sneaker shoe from the table to the mat",
+    "Lift the smooth white shoe and place it on the mat",
+    "Grab the shoe with textured sole from the table and place it on the mat",
+    "Lift the shoe with lace holes from the table and gently place it onto the mat",
+    "Use the right arm to lift the the white shoe with rubber sole from the table and set it on the mat",
+    "Using the right arm, lift the smooth white shoe from the table and place it onto the mat",
+    "Grab the white shoe with rubber sole using the right arm and drop it on the mat",
+    "Use the right arm to lift the shoe with lace holes from the table and set it on the mat",
+    "Use the right arm to lift the white sneaker shoe from the table and set it on the mat",
+    "Grab the shoe with curved sole from the table with the right arm and place it on the mat",
+    "Lift the synthetic leather shoe off the table using the right arm and drop it on the mat",
+    "Take the the smooth white shoe from the table using the right arm and drop it on the mat",
+    "Pick the the synthetic leather shoe off the table and position it on the mat",
+    "Take the the shoe with textured sole off the table and put it on the mat",
+    "With the right arm, grab the shoe with textured sole off the table and place it onto the mat",
+    "Pick the the white shoe with rubber sole from the table and place it gently on the mat"
+  ],
+  "unseen": [
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode79.json b/place_shoe/demo_clean/instructions/episode79.json
new file mode 100644
index 0000000000000000000000000000000000000000..874075160fbfcb4c55946ffd65e006cebd51f426
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode79.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the shoe with colorful stripes from the table to the mat",
+    "Take the shoe with textured bottom from the table and put it on the mat",
+    "Take the medium-sized brown shoe from the table and position it on the mat",
+    "Grab the the shoe with rounded and open form on the table and move it to the mat",
+    "Lift the rounded shoe with visible straps using the left arm from the table and place it on the mat",
+    "Take the the light brown shoe with white sole from the table using the left arm and drop it on the mat",
+    "Use the left arm to pick up the light brown shoe with white sole from the table and drop it on the mat",
+    "Use the left arm to lift the shoe with colorful stripes from the table and set it on the mat",
+    "Take the the shoe with textured bottom off the table and put it on the mat",
+    "Lift the the small brown footwear replica from the table and place it onto the mat",
+    "With the left arm, grab the rounded shoe with visible straps off the table and place it onto the mat",
+    "Pick up the shoe with colorful stripes from the table and set it on the mat",
+    "Grab the medium-sized brown shoe from the table and place it on the mat",
+    "Pick the the shoe with rounded and open form from the table and place it gently on the mat",
+    "With the left arm, pick the plastic brown shoe up from the table and put it on the mat",
+    "Use the left arm to pick the shoe with open straps and position it on the mat",
+    "Using the left arm, lift the shoe with rounded and open form from the table and place it onto the mat",
+    "Lift the shoe with textured bottom off the table using the left arm and drop it on the mat",
+    "Use the left arm to lift the the shoe with red green white pattern from the table and set it on the mat",
+    "Use the left arm to lift the shoe with open straps from the table and set it on the mat",
+    "Move the light brown shoe from the table to the mat in one fluid motion",
+    "Use the left arm to grab the light brown shoe with white sole and transfer it to the mat",
+    "Take the shoe with textured bottom from the table and place it on the mat",
+    "Grab the shoe with colorful stripes from the table with the left arm and place it on the mat",
+    "Move the shoe with textured bottom from the table and place it down on the mat",
+    "Use the left arm to pick the shoe with open straps off the table and move it onto the mat",
+    "Move the brown shoe with strap loops from the table to the mat",
+    "Lift the the light brown shoe with white sole from the table using the left arm and place it on the mat",
+    "Lift the shoe with colorful stripes and place it on the mat",
+    "With the left arm, grab the shoe with open straps from the table and place it on the mat",
+    "Take the shoe with rounded and open form and put it on the mat",
+    "Pick the medium-sized brown shoe up from the table and put it on the mat",
+    "Pick up the shoe with red green white pattern with the left arm from the table and place it on the mat",
+    "Use the left arm to grab the the shoe with textured bottom and put it on the mat",
+    "Take the shoe with rounded and open form from the table and carefully drop it on the mat",
+    "Pick up the small brown footwear replica with the left arm, move it from the table, and set it on the mat",
+    "Pick up the plastic brown shoe and move it to the mat",
+    "Pick the brown shoe with strap loops up from the table and drop it directly on the mat",
+    "Take the small brown footwear replica with the left arm and place it carefully on the mat",
+    "Pick the the shoe with rounded and open form off the table and position it on the mat",
+    "Remove the shoe with textured bottom from the table and lay it on the mat",
+    "Lift the brown shoe with strap loops from the table and place it carefully on the mat",
+    "Retrieve the shoe with red green white pattern from the table and set it on the mat",
+    "Transfer the shoe with red green white pattern from the table to the mat",
+    "Use the left arm to grab the shoe with red green white pattern from the table and move it to the mat",
+    "Grab the small brown footwear replica using the left arm and drop it on the mat",
+    "Grab the shoe with textured bottom using the left arm, move it from the table to the mat",
+    "Use the left arm to grab the the medium-sized brown shoe from the table and set it on the mat",
+    "Lift the shoe with red green white pattern from the table and gently place it onto the mat",
+    "Using the left arm, grasp the shoe with open straps from the table and place it onto the mat",
+    "Move the light brown shoe with white sole from the table to the mat",
+    "Take the light brown shoe with white sole from the table and put it on the mat",
+    "Take the small brown footwear replica from the table and position it on the mat",
+    "Grab the the shoe with rounded and open form on the table and move it to the mat",
+    "Lift the medium-sized brown shoe using the left arm from the table and place it on the mat",
+    "Take the the light brown shoe with white sole from the table using the left arm and drop it on the mat",
+    "Use the left arm to pick up the shoe with textured bottom from the table and drop it on the mat",
+    "Use the left arm to lift the shoe with red green white pattern from the table and set it on the mat",
+    "Take the the shoe with colorful stripes off the table and put it on the mat",
+    "Lift the the shoe with open straps from the table and place it onto the mat",
+    "With the left arm, grab the brown shoe with strap loops off the table and place it onto the mat",
+    "Pick up the shoe with open straps from the table and set it on the mat",
+    "Grab the shoe with textured bottom from the table and place it on the mat",
+    "Pick the the shoe with open straps from the table and place it gently on the mat",
+    "With the left arm, pick the brown shoe with strap loops up from the table and put it on the mat",
+    "Use the left arm to pick the small brown footwear replica and position it on the mat",
+    "Using the left arm, lift the plastic brown shoe from the table and place it onto the mat",
+    "Lift the plastic brown shoe off the table using the left arm and drop it on the mat",
+    "Use the left arm to lift the the shoe with rounded and open form from the table and set it on the mat",
+    "Use the left arm to lift the light brown shoe from the table and set it on the mat",
+    "Move the plastic brown shoe from the table to the mat in one fluid motion",
+    "Use the left arm to grab the rounded shoe with visible straps and transfer it to the mat",
+    "Take the plastic brown shoe from the table and place it on the mat",
+    "Grab the medium-sized brown shoe from the table with the left arm and place it on the mat",
+    "Move the light brown shoe from the table and place it down on the mat",
+    "Use the left arm to pick the shoe with rounded and open form off the table and move it onto the mat",
+    "Move the small brown footwear replica from the table to the mat",
+    "Lift the the shoe with open straps from the table using the left arm and place it on the mat",
+    "Lift the brown shoe with strap loops and place it on the mat",
+    "With the left arm, grab the light brown shoe with white sole from the table and place it on the mat",
+    "Take the light brown shoe and put it on the mat",
+    "Pick the light brown shoe with white sole up from the table and put it on the mat",
+    "Pick up the plastic brown shoe with the left arm from the table and place it on the mat",
+    "Use the left arm to grab the the medium-sized brown shoe and put it on the mat",
+    "Take the brown shoe with strap loops from the table and carefully drop it on the mat",
+    "Pick up the shoe with colorful stripes with the left arm, move it from the table, and set it on the mat",
+    "Pick up the plastic brown shoe and move it to the mat",
+    "Pick the brown shoe with strap loops up from the table and drop it directly on the mat",
+    "Take the shoe with textured bottom with the left arm and place it carefully on the mat",
+    "Pick the the brown shoe with strap loops off the table and position it on the mat",
+    "Remove the small brown footwear replica from the table and lay it on the mat",
+    "Lift the small brown footwear replica from the table and place it carefully on the mat",
+    "Retrieve the plastic brown shoe from the table and set it on the mat",
+    "Transfer the light brown shoe with white sole from the table to the mat",
+    "Use the left arm to grab the light brown shoe from the table and move it to the mat",
+    "Grab the shoe with red green white pattern using the left arm and drop it on the mat",
+    "Grab the shoe with red green white pattern using the left arm, move it from the table to the mat",
+    "Use the left arm to grab the the shoe with red green white pattern from the table and set it on the mat",
+    "Lift the medium-sized brown shoe from the table and gently place it onto the mat",
+    "Using the left arm, grasp the medium-sized brown shoe from the table and place it onto the mat"
+  ],
+  "unseen": [
+    "Grab the shoe model with ribbed sole off the table and drop it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Use the left arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the left arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the left arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Use the left arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the left arm to lift the smooth plastic shoe and drop it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the left arm to lift the smooth plastic shoe and drop it on the mat",
+    "Grab the smooth plastic shoe and set it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Use the left arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the left arm to lift the smooth plastic shoe and drop it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the left arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Use the left arm to grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Use the left arm to lift the brown shoe with green red stripes and drop it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Grab the the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it down on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Use the left arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the left arm to lift the shoe model with ribbed sole and drop it on the mat",
+    "Grab the brown shoe with green red stripes and set it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the the brown shoe with green red stripes from the table and place it on the mat",
+    "Grab the brown shoe with green red stripes off the table and drop it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it down on the mat",
+    "Grab the smooth plastic shoe from the table and place it on the mat",
+    "Use the left arm to grab the brown shoe with green red stripes from the table and place it on the mat",
+    "Pick up the smooth plastic shoe from the table and set it on the mat",
+    "Use the left arm to lift the smooth plastic shoe and drop it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Grab the the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the the shoe model with ribbed sole from the table and place it on the mat",
+    "Grab the smooth plastic shoe off the table and drop it on the mat",
+    "Pick up the shoe model with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe model with ribbed sole from the table and place it on the mat",
+    "Use the left arm to grab the smooth plastic shoe from the table and place it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Use the left arm to lift the smooth plastic shoe and drop it on the mat",
+    "Grab the shoe model with ribbed sole and set it on the mat",
+    "Grab the the shoe model with ribbed sole from the table and set it on the mat",
+    "Pick up the brown shoe with green red stripes from the table and set it on the mat",
+    "Pick up the the smooth plastic shoe from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode8.json b/place_shoe/demo_clean/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9c0c1557af3b1430b3a45708ebbbdd0810fa3a7
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the white shoe and place it on the mat",
+    "Pick up the lace-up black and white shoe with the right arm, move it from the table, and set it on the mat",
+    "Grab the the black-striped athletic shoe on the table and move it to the mat",
+    "Lift the shoe with smooth leather upper from the table and gently place it onto the mat",
+    "Lift the the white shoe from the table using the right arm and place it on the mat",
+    "Take the the rounded-toe gym shoe off the table and put it on the mat",
+    "Lift the lace-up shoe using the right arm from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick the the sports shoe from the table and place it gently on the mat",
+    "Grab the black-striped athletic shoe from the table with the right arm and place it on the mat",
+    "Grab the rounded-toe gym shoe using the right arm and drop it on the mat",
+    "Lift the white shoe from the table and place it carefully on the mat",
+    "Using the right arm, grasp the black-striped athletic shoe from the table and place it onto the mat",
+    "Use the right arm to pick the rounded-toe gym shoe off the table and move it onto the mat",
+    "Grab the shoe with smooth leather upper from the table and place it on the mat",
+    "Take the white shoe with black accents from the table and put it on the mat",
+    "Lift the lace-up shoe off the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the the white shoe with rubber bottom and put it on the mat",
+    "Take the shoe with textured brown sole from the table and position it on the mat",
+    "Pick the white shoe with black accents up from the table and put it on the mat",
+    "Move the footwear with white top from the table to the mat",
+    "Lift the the white shoe with black accents from the table and place it onto the mat",
+    "Pick up the shoe with smooth leather upper with the right arm from the table and place it on the mat",
+    "Grab the white shoe with rubber bottom using the right arm, move it from the table to the mat",
+    "Use the right arm to grab the lace-up black and white shoe from the table and move it to the mat",
+    "Use the right arm to grab the the sports shoe from the table and set it on the mat",
+    "Remove the lace-up black and white shoe from the table and lay it on the mat",
+    "Use the right arm to lift the brown sole shoe from the table and set it on the mat",
+    "Pick the the sports shoe off the table and position it on the mat",
+    "Use the right arm to grab the white shoe with rubber bottom and transfer it to the mat",
+    "Pick the shoe with smooth leather upper up from the table and drop it directly on the mat",
+    "Take the sports shoe from the table and carefully drop it on the mat",
+    "Move the shoe with textured brown sole from the table and place it down on the mat",
+    "Take the brown sole shoe from the table and place it on the mat",
+    "Retrieve the black-striped athletic shoe from the table and set it on the mat",
+    "Use the right arm to pick the black-striped athletic shoe and position it on the mat",
+    "Move the footwear with white top from the table to the mat in one fluid motion",
+    "Take the black-striped athletic shoe with the right arm and place it carefully on the mat",
+    "Transfer the sports shoe from the table to the mat",
+    "With the right arm, grab the white shoe with black accents off the table and place it onto the mat",
+    "Use the right arm to lift the the shoe with smooth leather upper from the table and set it on the mat",
+    "Use the right arm to lift the brown sole shoe from the table and set it on the mat",
+    "Move the sports shoe from the table to the mat",
+    "Take the the shoe with textured brown sole from the table using the right arm and drop it on the mat",
+    "With the right arm, grab the white shoe with black accents from the table and place it on the mat",
+    "With the right arm, pick the white shoe up from the table and put it on the mat",
+    "Take the white shoe with black accents and put it on the mat",
+    "Using the right arm, lift the lace-up black and white shoe from the table and place it onto the mat",
+    "Pick up the sports shoe and move it to the mat",
+    "Use the right arm to pick up the footwear with white top from the table and drop it on the mat",
+    "Lift the lace-up shoe and place it on the mat",
+    "Pick up the rounded-toe gym shoe with the right arm, move it from the table, and set it on the mat",
+    "Grab the the footwear with white top on the table and move it to the mat",
+    "Lift the shoe with smooth leather upper from the table and gently place it onto the mat",
+    "Lift the the white shoe with black accents from the table using the right arm and place it on the mat",
+    "Take the the lace-up black and white shoe off the table and put it on the mat",
+    "Lift the white shoe using the right arm from the table and place it on the mat",
+    "Pick up the footwear with white top from the table and set it on the mat",
+    "Pick the the footwear with white top from the table and place it gently on the mat",
+    "Grab the brown sole shoe from the table with the right arm and place it on the mat",
+    "Grab the white shoe with rubber bottom using the right arm and drop it on the mat",
+    "Lift the shoe with textured brown sole from the table and place it carefully on the mat",
+    "Using the right arm, grasp the white shoe with black accents from the table and place it onto the mat",
+    "Use the right arm to pick the footwear with white top off the table and move it onto the mat",
+    "Grab the sports shoe from the table and place it on the mat",
+    "Take the white shoe with black accents from the table and put it on the mat",
+    "Lift the footwear with white top off the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the the sports shoe and put it on the mat",
+    "Take the black-striped athletic shoe from the table and position it on the mat",
+    "Pick the white shoe with black accents up from the table and put it on the mat",
+    "Move the white shoe with black accents from the table to the mat",
+    "Lift the the black-striped athletic shoe from the table and place it onto the mat",
+    "Pick up the black-striped athletic shoe with the right arm from the table and place it on the mat",
+    "Grab the brown sole shoe using the right arm, move it from the table to the mat",
+    "Use the right arm to grab the lace-up black and white shoe from the table and move it to the mat",
+    "Use the right arm to grab the the sports shoe from the table and set it on the mat",
+    "Remove the sports shoe from the table and lay it on the mat",
+    "Use the right arm to lift the black-striped athletic shoe from the table and set it on the mat",
+    "Pick the the shoe with smooth leather upper off the table and position it on the mat",
+    "Use the right arm to grab the white shoe with rubber bottom and transfer it to the mat",
+    "Pick the white shoe with rubber bottom up from the table and drop it directly on the mat",
+    "Take the lace-up black and white shoe from the table and carefully drop it on the mat",
+    "Move the rounded-toe gym shoe from the table and place it down on the mat",
+    "Take the sports shoe from the table and place it on the mat",
+    "Retrieve the lace-up black and white shoe from the table and set it on the mat",
+    "Use the right arm to pick the shoe with smooth leather upper and position it on the mat",
+    "Move the white shoe with rubber bottom from the table to the mat in one fluid motion",
+    "Take the rounded-toe gym shoe with the right arm and place it carefully on the mat",
+    "Transfer the shoe with smooth leather upper from the table to the mat",
+    "With the right arm, grab the sports shoe off the table and place it onto the mat",
+    "Use the right arm to lift the the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the brown sole shoe from the table and set it on the mat",
+    "Move the sports shoe from the table to the mat",
+    "Take the the white shoe with rubber bottom from the table using the right arm and drop it on the mat",
+    "With the right arm, grab the white shoe with rubber bottom from the table and place it on the mat",
+    "With the right arm, pick the lace-up black and white shoe up from the table and put it on the mat",
+    "Take the lace-up shoe and put it on the mat",
+    "Using the right arm, lift the brown sole shoe from the table and place it onto the mat",
+    "Pick up the black-striped athletic shoe and move it to the mat",
+    "Use the right arm to pick up the lace-up black and white shoe from the table and drop it on the mat"
+  ],
+  "unseen": [
+    "Use the right arm to lift the white leather shoe with gum sole and drop it on the mat",
+    "Use the right arm to grab the shoe with striped design from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Grab the shoe with black stripes from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it down on the mat",
+    "Use the right arm to lift the white leather shoe with gum sole and drop it on the mat",
+    "Use the right arm to grab the shoe with black stripes from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Grab the shoe with black stripes off the table and drop it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Grab the shoe with striped design and set it on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Grab the the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it down on the mat",
+    "Use the right arm to lift the white leather shoe with gum sole and drop it on the mat",
+    "Use the right arm to grab the shoe with black stripes from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole off the table and drop it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole and set it on the mat",
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Grab the the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it down on the mat",
+    "Use the right arm to lift the white leather shoe with gum sole and drop it on the mat",
+    "Use the right arm to grab the shoe with striped design from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the shoe with black stripes off the table and drop it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the shoe with striped design and set it on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Grab the shoe with black stripes from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it down on the mat",
+    "Use the right arm to lift the shoe with black stripes and drop it on the mat",
+    "Use the right arm to grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole off the table and drop it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the shoe with striped design and set it on the mat",
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Grab the shoe with black stripes from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it down on the mat",
+    "Use the right arm to lift the shoe with striped design and drop it on the mat",
+    "Use the right arm to grab the shoe with striped design from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole off the table and drop it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Grab the the shoe with striped design from the table and set it on the mat",
+    "Grab the shoe with black stripes from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it down on the mat",
+    "Use the right arm to lift the white leather shoe with gum sole and drop it on the mat",
+    "Use the right arm to grab the shoe with striped design from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole and set it on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Grab the shoe with striped design from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it down on the mat",
+    "Use the right arm to lift the white leather shoe with gum sole and drop it on the mat",
+    "Use the right arm to grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the shoe with black stripes off the table and drop it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole and set it on the mat",
+    "Pick up the the shoe with black stripes from the table and place it on the mat",
+    "Grab the the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the shoe with striped design from the table and place it on the mat",
+    "Pick up the shoe with black stripes from the table and set it down on the mat",
+    "Use the right arm to lift the shoe with black stripes and drop it on the mat",
+    "Use the right arm to grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the shoe with striped design off the table and drop it on the mat",
+    "Pick up the shoe with striped design from the table and set it on the mat",
+    "Grab the shoe with striped design and set it on the mat",
+    "Pick up the the white leather shoe with gum sole from the table and place it on the mat",
+    "Grab the the shoe with black stripes from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it down on the mat",
+    "Use the right arm to lift the shoe with striped design and drop it on the mat",
+    "Use the right arm to grab the shoe with striped design from the table and place it on the mat",
+    "Pick up the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the shoe with black stripes off the table and drop it on the mat",
+    "Pick up the shoe with black stripes from the table and set it on the mat",
+    "Grab the shoe with black stripes and set it on the mat",
+    "Pick up the the shoe with striped design from the table and place it on the mat",
+    "Grab the the white leather shoe with gum sole from the table and set it on the mat",
+    "Grab the white leather shoe with gum sole from the table and place it on the mat",
+    "Pick up the shoe with striped design from the table and set it down on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode80.json b/place_shoe/demo_clean/instructions/episode80.json
new file mode 100644
index 0000000000000000000000000000000000000000..008a3f909c25aeda202e5f717f0afb9b0278b6e7
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode80.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the red shoe rounded at front from the table and position it on the mat",
+    "Use the right arm to lift the red sneaker from the table and set it on the mat",
+    "Grab the smooth-textured red shoe from the table and place it on the mat",
+    "Retrieve the footwear with red top white sole from the table and set it on the mat",
+    "Grab the white bottom sports shoe using the right arm and drop it on the mat",
+    "Pick up the red shoe rounded at front from the table and set it on the mat",
+    "Use the right arm to grab the smooth-textured red shoe from the table and move it to the mat",
+    "Take the sports shoe from the table and carefully drop it on the mat",
+    "Use the right arm to pick up the red shoe rounded at front from the table and drop it on the mat",
+    "Use the right arm to grab the lace-up red sports shoe and transfer it to the mat",
+    "Using the right arm, lift the smooth-textured red shoe from the table and place it onto the mat",
+    "Lift the white bottom sports shoe from the table and gently place it onto the mat",
+    "Lift the smooth-textured red shoe and place it on the mat",
+    "Use the right arm to grab the the red shoe rounded at front and put it on the mat",
+    "Move the grooved sole red shoe from the table to the mat",
+    "Grab the red shoe rounded at front from the table with the right arm and place it on the mat",
+    "Grab the the shoe with flat rubber sole on the table and move it to the mat",
+    "Take the the medium red shoe off the table and put it on the mat",
+    "Take the red sneaker from the table and put it on the mat",
+    "Lift the footwear with red top white sole from the table and place it carefully on the mat",
+    "Lift the the footwear with red top white sole from the table and place it onto the mat",
+    "Grab the shoe with flat rubber sole using the right arm, move it from the table to the mat",
+    "Use the right arm to lift the footwear with red top white sole from the table and set it on the mat",
+    "Pick the the shoe with flat rubber sole off the table and position it on the mat",
+    "Transfer the red sneaker from the table to the mat",
+    "With the right arm, pick the single red shoe up from the table and put it on the mat",
+    "Use the right arm to pick the footwear with red top white sole off the table and move it onto the mat",
+    "Pick up the red shoe with white sole with the right arm from the table and place it on the mat",
+    "Using the right arm, grasp the white bottom sports shoe from the table and place it onto the mat",
+    "Move the white bottom sports shoe from the table to the mat",
+    "Take the single red shoe and put it on the mat",
+    "Take the smooth-textured red shoe from the table and place it on the mat",
+    "Pick the footwear with red top white sole up from the table and put it on the mat",
+    "Lift the the medium red shoe from the table using the right arm and place it on the mat",
+    "Pick up the shoe with flat rubber sole with the right arm, move it from the table, and set it on the mat",
+    "Lift the single red shoe off the table using the right arm and drop it on the mat",
+    "Pick up the red shoe with white sole and move it to the mat",
+    "Pick the red shoe rounded at front up from the table and drop it directly on the mat",
+    "Lift the white bottom sports shoe using the right arm from the table and place it on the mat",
+    "With the right arm, grab the red sneaker off the table and place it onto the mat",
+    "Move the medium red shoe from the table to the mat in one fluid motion",
+    "With the right arm, grab the smooth-textured red shoe from the table and place it on the mat",
+    "Take the shoe with flat rubber sole with the right arm and place it carefully on the mat",
+    "Take the the footwear with red top white sole from the table using the right arm and drop it on the mat",
+    "Use the right arm to pick the shoe with flat rubber sole and position it on the mat",
+    "Pick the the grooved sole red shoe from the table and place it gently on the mat",
+    "Remove the red sneaker from the table and lay it on the mat",
+    "Use the right arm to grab the the single red shoe from the table and set it on the mat",
+    "Use the right arm to lift the the red sneaker from the table and set it on the mat",
+    "Move the grooved sole red shoe from the table and place it down on the mat",
+    "Take the medium red shoe from the table and position it on the mat",
+    "Use the right arm to lift the footwear with red top white sole from the table and set it on the mat",
+    "Grab the grooved sole red shoe from the table and place it on the mat",
+    "Retrieve the single red shoe from the table and set it on the mat",
+    "Grab the smooth-textured red shoe using the right arm and drop it on the mat",
+    "Pick up the red sneaker from the table and set it on the mat",
+    "Use the right arm to grab the grooved sole red shoe from the table and move it to the mat",
+    "Take the red shoe rounded at front from the table and carefully drop it on the mat",
+    "Use the right arm to pick up the smooth-textured red shoe from the table and drop it on the mat",
+    "Use the right arm to grab the red sneaker and transfer it to the mat",
+    "Using the right arm, lift the footwear with red top white sole from the table and place it onto the mat",
+    "Lift the red sneaker from the table and gently place it onto the mat",
+    "Lift the grooved sole red shoe and place it on the mat",
+    "Use the right arm to grab the the medium red shoe and put it on the mat",
+    "Move the footwear with red top white sole from the table to the mat",
+    "Grab the sports shoe from the table with the right arm and place it on the mat",
+    "Grab the the medium red shoe on the table and move it to the mat",
+    "Take the the red shoe with white sole off the table and put it on the mat",
+    "Take the grooved sole red shoe from the table and put it on the mat",
+    "Lift the white bottom sports shoe from the table and place it carefully on the mat",
+    "Lift the the shoe with flat rubber sole from the table and place it onto the mat",
+    "Grab the lace-up red sports shoe using the right arm, move it from the table to the mat",
+    "Use the right arm to lift the red shoe with white sole from the table and set it on the mat",
+    "Pick the the sports shoe off the table and position it on the mat",
+    "Transfer the footwear with red top white sole from the table to the mat",
+    "With the right arm, pick the single red shoe up from the table and put it on the mat",
+    "Use the right arm to pick the red shoe with white sole off the table and move it onto the mat",
+    "Pick up the sports shoe with the right arm from the table and place it on the mat",
+    "Using the right arm, grasp the smooth-textured red shoe from the table and place it onto the mat",
+    "Move the footwear with red top white sole from the table to the mat",
+    "Take the sports shoe and put it on the mat",
+    "Take the sports shoe from the table and place it on the mat",
+    "Pick the red shoe with white sole up from the table and put it on the mat",
+    "Lift the the red shoe rounded at front from the table using the right arm and place it on the mat",
+    "Pick up the white bottom sports shoe with the right arm, move it from the table, and set it on the mat",
+    "Lift the single red shoe off the table using the right arm and drop it on the mat",
+    "Pick up the smooth-textured red shoe and move it to the mat",
+    "Pick the red sneaker up from the table and drop it directly on the mat",
+    "Lift the red sneaker using the right arm from the table and place it on the mat",
+    "With the right arm, grab the smooth-textured red shoe off the table and place it onto the mat",
+    "Move the footwear with red top white sole from the table to the mat in one fluid motion",
+    "With the right arm, grab the white bottom sports shoe from the table and place it on the mat",
+    "Take the red shoe with white sole with the right arm and place it carefully on the mat",
+    "Take the the red shoe rounded at front from the table using the right arm and drop it on the mat",
+    "Use the right arm to pick the lace-up red sports shoe and position it on the mat",
+    "Pick the the shoe with flat rubber sole from the table and place it gently on the mat",
+    "Remove the red sneaker from the table and lay it on the mat",
+    "Use the right arm to grab the the red shoe with white sole from the table and set it on the mat",
+    "Use the right arm to lift the the red shoe rounded at front from the table and set it on the mat",
+    "Move the grooved sole red shoe from the table and place it down on the mat"
+  ],
+  "unseen": [
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Use the right arm to grab the red shoe from the table and place it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Use the right arm to lift the red sneaker medium sized and drop it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Grab the red shoe and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Use the right arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Use the right arm to lift the red shoe and drop it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Use the right arm to grab the red shoe from the table and place it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Use the right arm to lift the red sneaker medium sized and drop it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Grab the red shoe and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Use the right arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the the red sneaker medium sized from the table and place it on the mat",
+    "Use the right arm to lift the red sneaker medium sized and drop it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Use the right arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Use the right arm to lift the synthetic shoe upper and drop it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Grab the red shoe and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Use the right arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Use the right arm to lift the red shoe and drop it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Use the right arm to grab the red shoe from the table and place it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Grab the the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Use the right arm to lift the red sneaker medium sized and drop it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Use the right arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Use the right arm to lift the synthetic shoe upper and drop it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Use the right arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the the red sneaker medium sized from the table and place it on the mat",
+    "Use the right arm to lift the red sneaker medium sized and drop it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Use the right arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Use the right arm to lift the red shoe and drop it on the mat",
+    "Pick up the red shoe from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode81.json b/place_shoe/demo_clean/instructions/episode81.json
new file mode 100644
index 0000000000000000000000000000000000000000..3766cc7db05ab890370502ee43a2c0508152bd82
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode81.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, grab the white shoe from the table and place it on the mat",
+    "Retrieve the white shoe from the table and set it on the mat",
+    "Use the left arm to lift the synthetic leather white shoe from the table and set it on the mat",
+    "Move the medium-sized shoe from the table and place it down on the mat",
+    "Take the white shoe from the table and position it on the mat",
+    "Pick the the white shoe from the table and place it gently on the mat",
+    "Lift the white shoe off the table using the left arm and drop it on the mat",
+    "Pick the rubber-soled black-striped shoe up from the table and put it on the mat",
+    "Move the white shoe with black lines from the table to the mat",
+    "Lift the white shoe with curved top and place it on the mat",
+    "Use the left arm to pick the sports shoe white and black off the table and move it onto the mat",
+    "Take the the smooth surface white shoe from the table using the left arm and drop it on the mat",
+    "With the left arm, pick the white shoe with black lines up from the table and put it on the mat",
+    "Take the rounded-top white shoe and put it on the mat",
+    "Pick up the white shoe with curved top and move it to the mat",
+    "Use the left arm to grab the sports shoe white and black from the table and move it to the mat",
+    "With the left arm, grab the rounded-top white shoe off the table and place it onto the mat",
+    "Pick the sports shoe white and black up from the table and drop it directly on the mat",
+    "Use the left arm to pick up the synthetic leather white shoe from the table and drop it on the mat",
+    "Grab the medium-sized shoe from the table and place it on the mat",
+    "Lift the rounded-top white shoe using the left arm from the table and place it on the mat",
+    "Take the medium-sized shoe from the table and put it on the mat",
+    "Grab the smooth surface white shoe from the table with the left arm and place it on the mat",
+    "Pick up the medium-sized shoe with the left arm, move it from the table, and set it on the mat",
+    "Pick up the synthetic leather white shoe from the table and set it on the mat",
+    "Grab the smooth surface white shoe using the left arm, move it from the table to the mat",
+    "Take the synthetic leather white shoe from the table and carefully drop it on the mat",
+    "Use the left arm to lift the the sports shoe white and black from the table and set it on the mat",
+    "Transfer the white shoe with three stripes from the table to the mat",
+    "Lift the medium shoe with synthetic material from the table and place it carefully on the mat",
+    "Remove the sports shoe white and black from the table and lay it on the mat",
+    "Move the white shoe from the table to the mat",
+    "Take the rubber-soled black-striped shoe with the left arm and place it carefully on the mat",
+    "Grab the white shoe with curved top using the left arm and drop it on the mat",
+    "Use the left arm to grab the the medium-sized shoe and put it on the mat",
+    "Take the the smooth surface white shoe off the table and put it on the mat",
+    "Lift the the shoe with black accents from the table and place it onto the mat",
+    "Grab the the white shoe with three stripes on the table and move it to the mat",
+    "Use the left arm to grab the rounded-top white shoe and transfer it to the mat",
+    "Use the left arm to grab the the medium shoe with synthetic material from the table and set it on the mat",
+    "Using the left arm, lift the white shoe with three stripes from the table and place it onto the mat",
+    "Lift the white shoe from the table and gently place it onto the mat",
+    "Take the shoe with black accents from the table and place it on the mat",
+    "Lift the the rubber-soled black-striped shoe from the table using the left arm and place it on the mat",
+    "Use the left arm to lift the white shoe from the table and set it on the mat",
+    "Pick up the white shoe with black lines with the left arm from the table and place it on the mat",
+    "Use the left arm to pick the white shoe with three stripes and position it on the mat",
+    "Move the white shoe with black lines from the table to the mat in one fluid motion",
+    "Pick the the synthetic leather white shoe off the table and position it on the mat",
+    "Using the left arm, grasp the rubber-soled black-striped shoe from the table and place it onto the mat",
+    "With the left arm, grab the medium shoe with synthetic material from the table and place it on the mat",
+    "Retrieve the white shoe with three stripes from the table and set it on the mat",
+    "Use the left arm to lift the rubber-soled black-striped shoe from the table and set it on the mat",
+    "Move the medium shoe with synthetic material from the table and place it down on the mat",
+    "Take the white shoe from the table and position it on the mat",
+    "Pick the the synthetic leather white shoe from the table and place it gently on the mat",
+    "Lift the white shoe with three stripes off the table using the left arm and drop it on the mat",
+    "Pick the smooth surface white shoe up from the table and put it on the mat",
+    "Move the rounded-top white shoe from the table to the mat",
+    "Lift the white shoe and place it on the mat",
+    "Use the left arm to pick the synthetic leather white shoe off the table and move it onto the mat",
+    "Take the the synthetic leather white shoe from the table using the left arm and drop it on the mat",
+    "With the left arm, pick the medium shoe with synthetic material up from the table and put it on the mat",
+    "Take the white shoe with curved top and put it on the mat",
+    "Pick up the white shoe with three stripes and move it to the mat",
+    "Use the left arm to grab the medium shoe with synthetic material from the table and move it to the mat",
+    "With the left arm, grab the synthetic leather white shoe off the table and place it onto the mat",
+    "Pick the medium-sized shoe up from the table and drop it directly on the mat",
+    "Use the left arm to pick up the smooth surface white shoe from the table and drop it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Lift the white shoe using the left arm from the table and place it on the mat",
+    "Take the white shoe with black lines from the table and put it on the mat",
+    "Grab the white shoe with black lines from the table with the left arm and place it on the mat",
+    "Pick up the rubber-soled black-striped shoe with the left arm, move it from the table, and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the sports shoe white and black using the left arm, move it from the table to the mat",
+    "Take the rounded-top white shoe from the table and carefully drop it on the mat",
+    "Use the left arm to lift the the white shoe with three stripes from the table and set it on the mat",
+    "Transfer the rubber-soled black-striped shoe from the table to the mat",
+    "Lift the white shoe with curved top from the table and place it carefully on the mat",
+    "Remove the sports shoe white and black from the table and lay it on the mat",
+    "Move the sports shoe white and black from the table to the mat",
+    "Take the rubber-soled black-striped shoe with the left arm and place it carefully on the mat",
+    "Grab the white shoe with black lines using the left arm and drop it on the mat",
+    "Use the left arm to grab the the white shoe with three stripes and put it on the mat",
+    "Take the the rubber-soled black-striped shoe off the table and put it on the mat",
+    "Lift the the shoe with black accents from the table and place it onto the mat",
+    "Grab the the shoe with black accents on the table and move it to the mat",
+    "Use the left arm to grab the sports shoe white and black and transfer it to the mat",
+    "Use the left arm to grab the the white shoe with three stripes from the table and set it on the mat",
+    "Using the left arm, lift the white shoe with black lines from the table and place it onto the mat",
+    "Lift the shoe with black accents from the table and gently place it onto the mat",
+    "Take the rounded-top white shoe from the table and place it on the mat",
+    "Lift the the medium-sized shoe from the table using the left arm and place it on the mat",
+    "Use the left arm to lift the synthetic leather white shoe from the table and set it on the mat",
+    "Pick up the rubber-soled black-striped shoe with the left arm from the table and place it on the mat",
+    "Use the left arm to pick the shoe with black accents and position it on the mat",
+    "Move the white shoe with curved top from the table to the mat in one fluid motion",
+    "Pick the the white shoe off the table and position it on the mat",
+    "Using the left arm, grasp the smooth surface white shoe from the table and place it onto the mat"
+  ],
+  "unseen": [
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode82.json b/place_shoe/demo_clean/instructions/episode82.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f2a109153b5cb8ff4ca91e6c8962536a3beed72
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode82.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the shoe with black heel patch from the table and place it on the mat",
+    "Move the shoe with lace-up front from the table to the mat",
+    "With the left arm, grab the white shoe with rounded toe from the table and place it on the mat",
+    "Pick the the white shoe with rounded toe from the table and place it gently on the mat",
+    "Lift the white shoe with curved sole from the table and place it carefully on the mat",
+    "Lift the shoe with lace-up front off the table using the left arm and drop it on the mat",
+    "Move the white and black combination shoe from the table to the mat in one fluid motion",
+    "Use the left arm to pick the white shoe with rounded toe off the table and move it onto the mat",
+    "Use the left arm to grab the the sleek white walking shoe and put it on the mat",
+    "Use the left arm to grab the white and black combination shoe from the table and move it to the mat",
+    "Lift the the shoe with lace-up front from the table and place it onto the mat",
+    "Move the shoe with black heel patch from the table to the mat",
+    "Pick up the shoe with black heel patch from the table and set it on the mat",
+    "Using the left arm, lift the white shoe from the table and place it onto the mat",
+    "Use the left arm to pick the sleek white walking shoe and position it on the mat",
+    "Pick up the sleek white walking shoe with the left arm, move it from the table, and set it on the mat",
+    "Take the the shoe for everyday walking off the table and put it on the mat",
+    "Take the shoe with lace-up front and put it on the mat",
+    "Use the left arm to pick up the synthetic leather white shoe from the table and drop it on the mat",
+    "Remove the shoe with lace-up front from the table and lay it on the mat",
+    "Grab the shoe with black heel patch from the table with the left arm and place it on the mat",
+    "Lift the synthetic leather white shoe using the left arm from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Retrieve the white and black combination shoe from the table and set it on the mat",
+    "With the left arm, grab the synthetic leather white shoe off the table and place it onto the mat",
+    "Grab the medium-sized casual shoe using the left arm, move it from the table to the mat",
+    "Lift the shoe with black back detail and place it on the mat",
+    "Take the medium-sized casual shoe from the table and put it on the mat",
+    "Grab the sleek white walking shoe using the left arm and drop it on the mat",
+    "Use the left arm to grab the synthetic leather white shoe and transfer it to the mat",
+    "Use the left arm to lift the the white shoe with curved sole from the table and set it on the mat",
+    "Take the white shoe with rounded toe with the left arm and place it carefully on the mat",
+    "Pick the the synthetic leather white shoe off the table and position it on the mat",
+    "Using the left arm, grasp the synthetic leather white shoe from the table and place it onto the mat",
+    "Pick the soft rubber-soled white shoe up from the table and drop it directly on the mat",
+    "With the left arm, pick the shoe for everyday walking up from the table and put it on the mat",
+    "Take the sleek white walking shoe from the table and carefully drop it on the mat",
+    "Lift the the shoe with lace-up front from the table using the left arm and place it on the mat",
+    "Lift the shoe with black back detail from the table and gently place it onto the mat",
+    "Take the synthetic leather white shoe from the table and position it on the mat",
+    "Use the left arm to grab the the synthetic leather white shoe from the table and set it on the mat",
+    "Transfer the shoe for everyday walking from the table to the mat",
+    "Use the left arm to lift the soft rubber-soled white shoe from the table and set it on the mat",
+    "Use the left arm to lift the white shoe with rounded toe from the table and set it on the mat",
+    "Move the white shoe with curved sole from the table and place it down on the mat",
+    "Pick up the white shoe with curved sole and move it to the mat",
+    "Grab the the medium-sized casual shoe on the table and move it to the mat",
+    "Pick the medium-sized casual shoe up from the table and put it on the mat",
+    "Pick up the white shoe with rounded toe with the left arm from the table and place it on the mat",
+    "Take the the white shoe with curved sole from the table using the left arm and drop it on the mat",
+    "Take the synthetic leather white shoe from the table and place it on the mat",
+    "Move the soft rubber-soled white shoe from the table to the mat",
+    "With the left arm, grab the sleek white walking shoe from the table and place it on the mat",
+    "Pick the the shoe with lace-up front from the table and place it gently on the mat",
+    "Lift the white shoe from the table and place it carefully on the mat",
+    "Lift the shoe with black back detail off the table using the left arm and drop it on the mat",
+    "Move the shoe with black heel patch from the table to the mat in one fluid motion",
+    "Use the left arm to pick the medium-sized casual shoe off the table and move it onto the mat",
+    "Use the left arm to grab the the soft rubber-soled white shoe and put it on the mat",
+    "Use the left arm to grab the medium-sized casual shoe from the table and move it to the mat",
+    "Lift the the shoe with black heel patch from the table and place it onto the mat",
+    "Move the white shoe with rounded toe from the table to the mat",
+    "Pick up the shoe with lace-up front from the table and set it on the mat",
+    "Using the left arm, lift the medium-sized casual shoe from the table and place it onto the mat",
+    "Use the left arm to pick the synthetic leather white shoe and position it on the mat",
+    "Pick up the white shoe with the left arm, move it from the table, and set it on the mat",
+    "Take the the soft rubber-soled white shoe off the table and put it on the mat",
+    "Take the white shoe and put it on the mat",
+    "Use the left arm to pick up the shoe for everyday walking from the table and drop it on the mat",
+    "Remove the soft rubber-soled white shoe from the table and lay it on the mat",
+    "Grab the medium-sized casual shoe from the table with the left arm and place it on the mat",
+    "Lift the synthetic leather white shoe using the left arm from the table and place it on the mat",
+    "Grab the synthetic leather white shoe from the table and place it on the mat",
+    "Retrieve the sleek white walking shoe from the table and set it on the mat",
+    "With the left arm, grab the white shoe with curved sole off the table and place it onto the mat",
+    "Grab the white shoe using the left arm, move it from the table to the mat",
+    "Lift the shoe with black heel patch and place it on the mat",
+    "Take the shoe for everyday walking from the table and put it on the mat",
+    "Grab the sleek white walking shoe using the left arm and drop it on the mat",
+    "Use the left arm to grab the white shoe and transfer it to the mat",
+    "Use the left arm to lift the the soft rubber-soled white shoe from the table and set it on the mat",
+    "Take the shoe for everyday walking with the left arm and place it carefully on the mat",
+    "Pick the the sleek white walking shoe off the table and position it on the mat",
+    "Using the left arm, grasp the shoe for everyday walking from the table and place it onto the mat",
+    "Pick the shoe with black back detail up from the table and drop it directly on the mat",
+    "With the left arm, pick the white shoe with curved sole up from the table and put it on the mat",
+    "Take the shoe with black heel patch from the table and carefully drop it on the mat",
+    "Lift the the white shoe from the table using the left arm and place it on the mat",
+    "Lift the sleek white walking shoe from the table and gently place it onto the mat",
+    "Take the shoe with black back detail from the table and position it on the mat",
+    "Use the left arm to grab the the sleek white walking shoe from the table and set it on the mat",
+    "Transfer the medium-sized casual shoe from the table to the mat",
+    "Use the left arm to lift the synthetic leather white shoe from the table and set it on the mat",
+    "Use the left arm to lift the shoe with lace-up front from the table and set it on the mat",
+    "Move the shoe for everyday walking from the table and place it down on the mat",
+    "Pick up the shoe with black back detail and move it to the mat",
+    "Grab the the white shoe on the table and move it to the mat",
+    "Pick the white shoe with curved sole up from the table and put it on the mat",
+    "Pick up the white shoe with curved sole with the left arm from the table and place it on the mat",
+    "Take the the white shoe with curved sole from the table using the left arm and drop it on the mat"
+  ],
+  "unseen": [
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode83.json b/place_shoe/demo_clean/instructions/episode83.json
new file mode 100644
index 0000000000000000000000000000000000000000..edff854b8b1de0548c3d7ed499acb6d0cb2db30b
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode83.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the rounded-top white shoe from the table and place it on the mat",
+    "Use the left arm to pick up the rounded-top white shoe from the table and drop it on the mat",
+    "Lift the the smooth surface white shoe from the table and place it onto the mat",
+    "Pick the the smooth surface white shoe off the table and position it on the mat",
+    "Use the left arm to lift the the white shoe with curved top from the table and set it on the mat",
+    "Pick the the synthetic leather white shoe from the table and place it gently on the mat",
+    "With the left arm, pick the white shoe with curved top up from the table and put it on the mat",
+    "Pick up the medium-sized shoe with the left arm, move it from the table, and set it on the mat",
+    "Lift the the white shoe with three stripes from the table using the left arm and place it on the mat",
+    "With the left arm, grab the medium-sized shoe off the table and place it onto the mat",
+    "Take the sports shoe white and black with the left arm and place it carefully on the mat",
+    "With the left arm, grab the white shoe with curved top from the table and place it on the mat",
+    "Take the synthetic leather white shoe from the table and put it on the mat",
+    "Pick up the medium-sized shoe with the left arm from the table and place it on the mat",
+    "Using the left arm, lift the smooth surface white shoe from the table and place it onto the mat",
+    "Grab the synthetic leather white shoe using the left arm and drop it on the mat",
+    "Transfer the sports shoe white and black from the table to the mat",
+    "Take the smooth surface white shoe from the table and position it on the mat",
+    "Lift the white shoe using the left arm from the table and place it on the mat",
+    "Using the left arm, grasp the white shoe from the table and place it onto the mat",
+    "Pick up the smooth surface white shoe and move it to the mat",
+    "Take the medium-sized shoe from the table and place it on the mat",
+    "Take the the medium-sized shoe from the table using the left arm and drop it on the mat",
+    "Move the white shoe with three stripes from the table to the mat",
+    "Lift the synthetic leather white shoe off the table using the left arm and drop it on the mat",
+    "Move the white shoe from the table to the mat",
+    "Use the left arm to pick the white shoe with curved top off the table and move it onto the mat",
+    "Lift the sports shoe white and black from the table and place it carefully on the mat",
+    "Use the left arm to grab the sports shoe white and black from the table and move it to the mat",
+    "Use the left arm to grab the the shoe with black accents and put it on the mat",
+    "Take the shoe with black accents from the table and carefully drop it on the mat",
+    "Lift the sports shoe white and black from the table and gently place it onto the mat",
+    "Grab the the synthetic leather white shoe on the table and move it to the mat",
+    "Pick the white shoe with curved top up from the table and drop it directly on the mat",
+    "Retrieve the rounded-top white shoe from the table and set it on the mat",
+    "Use the left arm to grab the the shoe with black accents from the table and set it on the mat",
+    "Use the left arm to grab the shoe with black accents and transfer it to the mat",
+    "Use the left arm to lift the white shoe with curved top from the table and set it on the mat",
+    "Take the synthetic leather white shoe and put it on the mat",
+    "Pick up the medium-sized shoe from the table and set it on the mat",
+    "Use the left arm to lift the white shoe from the table and set it on the mat",
+    "Remove the medium-sized shoe from the table and lay it on the mat",
+    "Grab the medium-sized shoe from the table with the left arm and place it on the mat",
+    "Lift the shoe with black accents and place it on the mat",
+    "Grab the shoe with black accents using the left arm, move it from the table to the mat",
+    "Move the white shoe with black lines from the table to the mat in one fluid motion",
+    "Use the left arm to pick the white shoe with three stripes and position it on the mat",
+    "Take the the white shoe with three stripes off the table and put it on the mat",
+    "Move the synthetic leather white shoe from the table and place it down on the mat",
+    "Pick the shoe with black accents up from the table and put it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Use the left arm to pick up the white shoe from the table and drop it on the mat",
+    "Lift the the medium-sized shoe from the table and place it onto the mat",
+    "Pick the the white shoe off the table and position it on the mat",
+    "Use the left arm to lift the the rounded-top white shoe from the table and set it on the mat",
+    "Pick the the smooth surface white shoe from the table and place it gently on the mat",
+    "With the left arm, pick the rounded-top white shoe up from the table and put it on the mat",
+    "Pick up the rubber-soled black-striped shoe with the left arm, move it from the table, and set it on the mat",
+    "Lift the the rounded-top white shoe from the table using the left arm and place it on the mat",
+    "With the left arm, grab the rounded-top white shoe off the table and place it onto the mat",
+    "Take the smooth surface white shoe with the left arm and place it carefully on the mat",
+    "With the left arm, grab the white shoe from the table and place it on the mat",
+    "Take the white shoe from the table and put it on the mat",
+    "Pick up the shoe with black accents with the left arm from the table and place it on the mat",
+    "Using the left arm, lift the white shoe with three stripes from the table and place it onto the mat",
+    "Grab the shoe with black accents using the left arm and drop it on the mat",
+    "Transfer the rubber-soled black-striped shoe from the table to the mat",
+    "Take the medium-sized shoe from the table and position it on the mat",
+    "Lift the shoe with black accents using the left arm from the table and place it on the mat",
+    "Using the left arm, grasp the sports shoe white and black from the table and place it onto the mat",
+    "Pick up the rubber-soled black-striped shoe and move it to the mat",
+    "Take the white shoe from the table and place it on the mat",
+    "Take the the medium shoe with synthetic material from the table using the left arm and drop it on the mat",
+    "Move the smooth surface white shoe from the table to the mat",
+    "Lift the white shoe with curved top off the table using the left arm and drop it on the mat",
+    "Move the white shoe from the table to the mat",
+    "Use the left arm to pick the rubber-soled black-striped shoe off the table and move it onto the mat",
+    "Lift the white shoe with curved top from the table and place it carefully on the mat",
+    "Use the left arm to grab the medium shoe with synthetic material from the table and move it to the mat",
+    "Use the left arm to grab the the medium-sized shoe and put it on the mat",
+    "Take the white shoe with black lines from the table and carefully drop it on the mat",
+    "Lift the smooth surface white shoe from the table and gently place it onto the mat",
+    "Grab the the medium shoe with synthetic material on the table and move it to the mat",
+    "Pick the rubber-soled black-striped shoe up from the table and drop it directly on the mat",
+    "Retrieve the rubber-soled black-striped shoe from the table and set it on the mat",
+    "Use the left arm to grab the the medium shoe with synthetic material from the table and set it on the mat",
+    "Use the left arm to grab the medium shoe with synthetic material and transfer it to the mat",
+    "Use the left arm to lift the white shoe from the table and set it on the mat",
+    "Take the white shoe with three stripes and put it on the mat",
+    "Pick up the sports shoe white and black from the table and set it on the mat",
+    "Use the left arm to lift the rubber-soled black-striped shoe from the table and set it on the mat",
+    "Remove the white shoe with curved top from the table and lay it on the mat",
+    "Grab the sports shoe white and black from the table with the left arm and place it on the mat",
+    "Lift the white shoe with curved top and place it on the mat",
+    "Grab the white shoe with three stripes using the left arm, move it from the table to the mat",
+    "Move the medium shoe with synthetic material from the table to the mat in one fluid motion",
+    "Use the left arm to pick the shoe with black accents and position it on the mat",
+    "Take the the white shoe with curved top off the table and put it on the mat",
+    "Move the synthetic leather white shoe from the table and place it down on the mat",
+    "Pick the white shoe up from the table and put it on the mat"
+  ],
+  "unseen": [
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Grab the the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the shoe with black stripe design off the table and drop it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode84.json b/place_shoe/demo_clean/instructions/episode84.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5e891a49e64fbe2a49b6658c38afc9b6c49ea1f
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode84.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the smooth white shoe from the table and set it on the mat",
+    "Pick the the white shoe with rubber sole from the table and place it gently on the mat",
+    "Pick up the shoe with textured sole with the left arm, move it from the table, and set it on the mat",
+    "Lift the white sneaker shoe from the table and gently place it onto the mat",
+    "Grab the rubber sole shoe from the table with the left arm and place it on the mat",
+    "Move the shoe for walking from the table to the mat in one fluid motion",
+    "Pick the shoe with lace holes up from the table and drop it directly on the mat",
+    "Use the left arm to lift the shoe with curved sole from the table and set it on the mat",
+    "With the left arm, pick the synthetic leather shoe up from the table and put it on the mat",
+    "Take the shoe with lace holes and put it on the mat",
+    "Use the left arm to lift the smooth white shoe from the table and set it on the mat",
+    "Grab the synthetic leather shoe using the left arm, move it from the table to the mat",
+    "Use the left arm to pick the rubber sole shoe off the table and move it onto the mat",
+    "Move the smooth white shoe from the table to the mat",
+    "With the left arm, grab the rubber sole shoe from the table and place it on the mat",
+    "Transfer the rubber sole shoe from the table to the mat",
+    "Use the left arm to grab the shoe with lace holes and transfer it to the mat",
+    "Lift the the white shoe with rubber sole from the table using the left arm and place it on the mat",
+    "Pick up the shoe with textured sole with the left arm from the table and place it on the mat",
+    "Take the smooth white shoe from the table and put it on the mat",
+    "Take the white sneaker shoe from the table and position it on the mat",
+    "Take the the smooth white shoe off the table and put it on the mat",
+    "Use the left arm to grab the shoe with patterned bottom from the table and move it to the mat",
+    "Use the left arm to pick up the medium-sized rounded white shoe from the table and drop it on the mat",
+    "Take the the shoe with textured sole from the table using the left arm and drop it on the mat",
+    "Use the left arm to lift the the shoe with patterned bottom from the table and set it on the mat",
+    "Grab the white shoe with rubber sole from the table and place it on the mat",
+    "Take the synthetic leather shoe with the left arm and place it carefully on the mat",
+    "Retrieve the medium-sized rounded white shoe from the table and set it on the mat",
+    "Lift the shoe with lace holes using the left arm from the table and place it on the mat",
+    "Move the smooth white shoe from the table and place it down on the mat",
+    "Take the medium white shoe from the table and carefully drop it on the mat",
+    "Lift the the medium white shoe from the table and place it onto the mat",
+    "Take the shoe with lace holes from the table and place it on the mat",
+    "Use the left arm to pick the medium white shoe and position it on the mat",
+    "Pick the the shoe with textured sole off the table and position it on the mat",
+    "Move the medium white shoe from the table to the mat",
+    "Grab the the shoe with textured sole on the table and move it to the mat",
+    "Lift the shoe with textured sole from the table and place it carefully on the mat",
+    "Using the left arm, grasp the shoe with lace holes from the table and place it onto the mat",
+    "Use the left arm to grab the the smooth white shoe and put it on the mat",
+    "Using the left arm, lift the white sneaker shoe from the table and place it onto the mat",
+    "Use the left arm to grab the the smooth white shoe from the table and set it on the mat",
+    "Remove the smooth white shoe from the table and lay it on the mat",
+    "Lift the shoe with curved sole off the table using the left arm and drop it on the mat",
+    "Lift the shoe with lace holes and place it on the mat",
+    "With the left arm, grab the medium-sized rounded white shoe off the table and place it onto the mat",
+    "Grab the white sneaker shoe using the left arm and drop it on the mat",
+    "Pick up the smooth white shoe and move it to the mat",
+    "Pick the shoe with patterned bottom up from the table and put it on the mat",
+    "Pick up the shoe with patterned bottom from the table and set it on the mat",
+    "Pick the the white sneaker shoe from the table and place it gently on the mat",
+    "Pick up the shoe with lace holes with the left arm, move it from the table, and set it on the mat",
+    "Lift the medium-sized rounded white shoe from the table and gently place it onto the mat",
+    "Grab the synthetic leather shoe from the table with the left arm and place it on the mat",
+    "Move the medium white shoe from the table to the mat in one fluid motion",
+    "Pick the white sneaker shoe up from the table and drop it directly on the mat",
+    "Use the left arm to lift the medium white shoe from the table and set it on the mat",
+    "With the left arm, pick the white shoe with rubber sole up from the table and put it on the mat",
+    "Take the shoe with lace holes and put it on the mat",
+    "Use the left arm to lift the shoe with curved sole from the table and set it on the mat",
+    "Grab the shoe with patterned bottom using the left arm, move it from the table to the mat",
+    "Use the left arm to pick the medium white shoe off the table and move it onto the mat",
+    "Move the shoe with curved sole from the table to the mat",
+    "With the left arm, grab the white sneaker shoe from the table and place it on the mat",
+    "Transfer the synthetic leather shoe from the table to the mat",
+    "Use the left arm to grab the shoe with curved sole and transfer it to the mat",
+    "Lift the the shoe for walking from the table using the left arm and place it on the mat",
+    "Pick up the synthetic leather shoe with the left arm from the table and place it on the mat",
+    "Take the white sneaker shoe from the table and put it on the mat",
+    "Take the shoe with lace holes from the table and position it on the mat",
+    "Take the the shoe with lace holes off the table and put it on the mat",
+    "Use the left arm to grab the rubber sole shoe from the table and move it to the mat",
+    "Use the left arm to pick up the medium white shoe from the table and drop it on the mat",
+    "Take the the medium white shoe from the table using the left arm and drop it on the mat",
+    "Use the left arm to lift the the smooth white shoe from the table and set it on the mat",
+    "Grab the white shoe with rubber sole from the table and place it on the mat",
+    "Take the medium-sized rounded white shoe with the left arm and place it carefully on the mat",
+    "Retrieve the shoe with patterned bottom from the table and set it on the mat",
+    "Lift the smooth white shoe using the left arm from the table and place it on the mat",
+    "Move the shoe for walking from the table and place it down on the mat",
+    "Take the rubber sole shoe from the table and carefully drop it on the mat",
+    "Lift the the shoe with curved sole from the table and place it onto the mat",
+    "Take the shoe for walking from the table and place it on the mat",
+    "Use the left arm to pick the synthetic leather shoe and position it on the mat",
+    "Pick the the medium-sized rounded white shoe off the table and position it on the mat",
+    "Move the white sneaker shoe from the table to the mat",
+    "Grab the the white sneaker shoe on the table and move it to the mat",
+    "Lift the medium white shoe from the table and place it carefully on the mat",
+    "Using the left arm, grasp the synthetic leather shoe from the table and place it onto the mat",
+    "Use the left arm to grab the the shoe with textured sole and put it on the mat",
+    "Using the left arm, lift the rubber sole shoe from the table and place it onto the mat",
+    "Use the left arm to grab the the rubber sole shoe from the table and set it on the mat",
+    "Remove the white sneaker shoe from the table and lay it on the mat",
+    "Lift the white sneaker shoe off the table using the left arm and drop it on the mat",
+    "Lift the shoe for walking and place it on the mat",
+    "With the left arm, grab the rubber sole shoe off the table and place it onto the mat",
+    "Grab the shoe with lace holes using the left arm and drop it on the mat",
+    "Pick up the shoe with lace holes and move it to the mat",
+    "Pick the medium-sized rounded white shoe up from the table and put it on the mat"
+  ],
+  "unseen": [
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode85.json b/place_shoe/demo_clean/instructions/episode85.json
new file mode 100644
index 0000000000000000000000000000000000000000..220cb4d209d7dbc622d8f410ffa2dc98e7f475d3
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode85.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, grab the shoe with black accents off the table and place it onto the mat",
+    "Remove the white shoe with three stripes from the table and lay it on the mat",
+    "Use the left arm to grab the the synthetic leather white shoe from the table and set it on the mat",
+    "Take the the white shoe with curved top off the table and put it on the mat",
+    "Use the left arm to lift the white shoe with curved top from the table and set it on the mat",
+    "Use the left arm to pick the medium shoe with synthetic material off the table and move it onto the mat",
+    "Grab the the white shoe with three stripes on the table and move it to the mat",
+    "With the left arm, pick the medium shoe with synthetic material up from the table and put it on the mat",
+    "With the left arm, grab the white shoe from the table and place it on the mat",
+    "Move the white shoe from the table to the mat",
+    "Use the left arm to lift the rounded-top white shoe from the table and set it on the mat",
+    "Grab the smooth surface white shoe from the table and place it on the mat",
+    "Move the medium-sized shoe from the table to the mat",
+    "Take the white shoe and put it on the mat",
+    "Use the left arm to lift the the white shoe with black lines from the table and set it on the mat",
+    "Pick up the medium-sized shoe from the table and set it on the mat",
+    "Take the white shoe with curved top from the table and put it on the mat",
+    "Pick the the white shoe with black lines off the table and position it on the mat",
+    "Pick the the medium-sized shoe from the table and place it gently on the mat",
+    "Lift the the smooth surface white shoe from the table and place it onto the mat",
+    "Grab the white shoe using the left arm and drop it on the mat",
+    "Take the white shoe with curved top from the table and place it on the mat",
+    "Pick the rubber-soled black-striped shoe up from the table and put it on the mat",
+    "Take the the rubber-soled black-striped shoe from the table using the left arm and drop it on the mat",
+    "Take the medium-sized shoe from the table and position it on the mat",
+    "Grab the medium shoe with synthetic material using the left arm, move it from the table to the mat",
+    "Take the rounded-top white shoe with the left arm and place it carefully on the mat",
+    "Use the left arm to grab the rubber-soled black-striped shoe from the table and move it to the mat",
+    "Use the left arm to grab the white shoe with curved top and transfer it to the mat",
+    "Lift the white shoe with curved top and place it on the mat",
+    "Lift the the shoe with black accents from the table using the left arm and place it on the mat",
+    "Lift the rounded-top white shoe from the table and gently place it onto the mat",
+    "Lift the white shoe with black lines off the table using the left arm and drop it on the mat",
+    "Pick the white shoe with black lines up from the table and drop it directly on the mat",
+    "Use the left arm to pick the shoe with black accents and position it on the mat",
+    "Using the left arm, lift the medium shoe with synthetic material from the table and place it onto the mat",
+    "Use the left arm to pick up the white shoe with three stripes from the table and drop it on the mat",
+    "Pick up the rubber-soled black-striped shoe and move it to the mat",
+    "Pick up the medium-sized shoe with the left arm from the table and place it on the mat",
+    "Move the white shoe with black lines from the table to the mat in one fluid motion",
+    "Grab the medium shoe with synthetic material from the table with the left arm and place it on the mat",
+    "Lift the synthetic leather white shoe from the table and place it carefully on the mat",
+    "Use the left arm to grab the the smooth surface white shoe and put it on the mat",
+    "Pick up the white shoe with the left arm, move it from the table, and set it on the mat",
+    "Move the white shoe with black lines from the table and place it down on the mat",
+    "Transfer the rubber-soled black-striped shoe from the table to the mat",
+    "Lift the medium shoe with synthetic material using the left arm from the table and place it on the mat",
+    "Using the left arm, grasp the synthetic leather white shoe from the table and place it onto the mat",
+    "Retrieve the smooth surface white shoe from the table and set it on the mat",
+    "Take the smooth surface white shoe from the table and carefully drop it on the mat",
+    "With the left arm, grab the white shoe off the table and place it onto the mat",
+    "Remove the medium-sized shoe from the table and lay it on the mat",
+    "Use the left arm to grab the the rounded-top white shoe from the table and set it on the mat",
+    "Take the the synthetic leather white shoe off the table and put it on the mat",
+    "Use the left arm to lift the medium shoe with synthetic material from the table and set it on the mat",
+    "Use the left arm to pick the rounded-top white shoe off the table and move it onto the mat",
+    "Grab the the rubber-soled black-striped shoe on the table and move it to the mat",
+    "With the left arm, pick the rounded-top white shoe up from the table and put it on the mat",
+    "With the left arm, grab the medium-sized shoe from the table and place it on the mat",
+    "Move the shoe with black accents from the table to the mat",
+    "Use the left arm to lift the smooth surface white shoe from the table and set it on the mat",
+    "Grab the white shoe with curved top from the table and place it on the mat",
+    "Move the shoe with black accents from the table to the mat",
+    "Take the rounded-top white shoe and put it on the mat",
+    "Use the left arm to lift the the white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Take the medium-sized shoe from the table and put it on the mat",
+    "Pick the the synthetic leather white shoe off the table and position it on the mat",
+    "Pick the the synthetic leather white shoe from the table and place it gently on the mat",
+    "Lift the the white shoe with three stripes from the table and place it onto the mat",
+    "Grab the smooth surface white shoe using the left arm and drop it on the mat",
+    "Take the medium shoe with synthetic material from the table and place it on the mat",
+    "Pick the rubber-soled black-striped shoe up from the table and put it on the mat",
+    "Take the the rubber-soled black-striped shoe from the table using the left arm and drop it on the mat",
+    "Take the white shoe with curved top from the table and position it on the mat",
+    "Grab the medium shoe with synthetic material using the left arm, move it from the table to the mat",
+    "Take the white shoe with black lines with the left arm and place it carefully on the mat",
+    "Use the left arm to grab the sports shoe white and black from the table and move it to the mat",
+    "Use the left arm to grab the white shoe and transfer it to the mat",
+    "Lift the medium-sized shoe and place it on the mat",
+    "Lift the the white shoe with three stripes from the table using the left arm and place it on the mat",
+    "Lift the white shoe with three stripes from the table and gently place it onto the mat",
+    "Lift the sports shoe white and black off the table using the left arm and drop it on the mat",
+    "Pick the rounded-top white shoe up from the table and drop it directly on the mat",
+    "Use the left arm to pick the white shoe with black lines and position it on the mat",
+    "Using the left arm, lift the white shoe with black lines from the table and place it onto the mat",
+    "Use the left arm to pick up the sports shoe white and black from the table and drop it on the mat",
+    "Pick up the rubber-soled black-striped shoe and move it to the mat",
+    "Pick up the white shoe with the left arm from the table and place it on the mat",
+    "Move the smooth surface white shoe from the table to the mat in one fluid motion",
+    "Grab the medium shoe with synthetic material from the table with the left arm and place it on the mat",
+    "Lift the smooth surface white shoe from the table and place it carefully on the mat",
+    "Use the left arm to grab the the white shoe with curved top and put it on the mat",
+    "Pick up the synthetic leather white shoe with the left arm, move it from the table, and set it on the mat",
+    "Move the white shoe with curved top from the table and place it down on the mat",
+    "Transfer the white shoe with black lines from the table to the mat",
+    "Lift the medium-sized shoe using the left arm from the table and place it on the mat",
+    "Using the left arm, grasp the rubber-soled black-striped shoe from the table and place it onto the mat",
+    "Retrieve the medium-sized shoe from the table and set it on the mat",
+    "Take the white shoe with black lines from the table and carefully drop it on the mat"
+  ],
+  "unseen": [
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to lift the black-striped white shoe and drop it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with ribbed sole and set it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the the shoe with black stripe design from the table and place it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Use the left arm to lift the shoe with ribbed sole and drop it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the black-striped white shoe and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it down on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to grab the shoe with ribbed sole from the table and place it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the the shoe with ribbed sole from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the black-striped white shoe off the table and drop it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Grab the shoe with ribbed sole from the table and place it on the mat",
+    "Use the left arm to grab the black-striped white shoe from the table and place it on the mat",
+    "Pick up the the black-striped white shoe from the table and place it on the mat",
+    "Grab the the black-striped white shoe from the table and set it on the mat",
+    "Use the left arm to lift the shoe with black stripe design and drop it on the mat",
+    "Pick up the shoe with black stripe design from the table and set it on the mat",
+    "Pick up the black-striped white shoe from the table and set it on the mat",
+    "Grab the shoe with black stripe design and set it on the mat",
+    "Pick up the shoe with ribbed sole from the table and set it down on the mat",
+    "Grab the shoe with ribbed sole off the table and drop it on the mat",
+    "Grab the black-striped white shoe from the table and place it on the mat",
+    "Use the left arm to grab the shoe with black stripe design from the table and place it on the mat",
+    "Pick up the the shoe with ribbed sole from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode86.json b/place_shoe/demo_clean/instructions/episode86.json
new file mode 100644
index 0000000000000000000000000000000000000000..9778a721b70437496af38d3d5b7740872f1d0dd0
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode86.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the shoe with black heel patch from the table and place it on the mat",
+    "With the left arm, grab the white shoe off the table and place it onto the mat",
+    "Lift the shoe with lace-up front from the table and gently place it onto the mat",
+    "Use the left arm to grab the white and black combination shoe and transfer it to the mat",
+    "Using the left arm, lift the synthetic leather white shoe from the table and place it onto the mat",
+    "Lift the the soft rubber-soled white shoe from the table and place it onto the mat",
+    "Lift the white shoe using the left arm from the table and place it on the mat",
+    "With the left arm, grab the sleek white walking shoe from the table and place it on the mat",
+    "Use the left arm to pick the shoe for everyday walking and position it on the mat",
+    "Use the left arm to pick up the white shoe with curved sole from the table and drop it on the mat",
+    "Grab the medium-sized casual shoe from the table and place it on the mat",
+    "Use the left arm to grab the the synthetic leather white shoe and put it on the mat",
+    "Lift the white shoe with curved sole from the table and place it carefully on the mat",
+    "Lift the shoe with black heel patch off the table using the left arm and drop it on the mat",
+    "Use the left arm to pick the shoe with lace-up front off the table and move it onto the mat",
+    "Take the shoe with black back detail from the table and carefully drop it on the mat",
+    "Retrieve the shoe with black back detail from the table and set it on the mat",
+    "Pick up the white shoe with rounded toe and move it to the mat",
+    "Take the shoe with black heel patch from the table and position it on the mat",
+    "Grab the shoe for everyday walking using the left arm, move it from the table to the mat",
+    "Use the left arm to grab the sleek white walking shoe from the table and move it to the mat",
+    "Pick the shoe with lace-up front up from the table and put it on the mat",
+    "Remove the medium-sized casual shoe from the table and lay it on the mat",
+    "Take the the soft rubber-soled white shoe off the table and put it on the mat",
+    "Move the shoe for everyday walking from the table to the mat",
+    "Take the the white shoe with rounded toe from the table using the left arm and drop it on the mat",
+    "Grab the the sleek white walking shoe on the table and move it to the mat",
+    "Take the sleek white walking shoe with the left arm and place it carefully on the mat",
+    "Pick up the shoe with black heel patch with the left arm from the table and place it on the mat",
+    "Using the left arm, grasp the shoe with lace-up front from the table and place it onto the mat",
+    "Grab the shoe with black back detail from the table with the left arm and place it on the mat",
+    "Use the left arm to lift the soft rubber-soled white shoe from the table and set it on the mat",
+    "Use the left arm to grab the the medium-sized casual shoe from the table and set it on the mat",
+    "Take the white shoe with rounded toe and put it on the mat",
+    "Move the synthetic leather white shoe from the table to the mat",
+    "Pick up the white shoe with the left arm, move it from the table, and set it on the mat",
+    "Pick the shoe with black back detail up from the table and drop it directly on the mat",
+    "Grab the synthetic leather white shoe using the left arm and drop it on the mat",
+    "Take the sleek white walking shoe from the table and put it on the mat",
+    "Pick the the shoe with black heel patch off the table and position it on the mat",
+    "Use the left arm to lift the the sleek white walking shoe from the table and set it on the mat",
+    "Transfer the shoe with black heel patch from the table to the mat",
+    "Use the left arm to lift the shoe with black heel patch from the table and set it on the mat",
+    "Move the white shoe with rounded toe from the table and place it down on the mat",
+    "Move the shoe with black back detail from the table to the mat in one fluid motion",
+    "Pick up the white shoe with rounded toe from the table and set it on the mat",
+    "Pick the the shoe with black heel patch from the table and place it gently on the mat",
+    "With the left arm, pick the white shoe with curved sole up from the table and put it on the mat",
+    "Lift the the shoe with lace-up front from the table using the left arm and place it on the mat",
+    "Lift the sleek white walking shoe and place it on the mat",
+    "Take the white shoe from the table and place it on the mat",
+    "With the left arm, grab the medium-sized casual shoe off the table and place it onto the mat",
+    "Lift the white shoe with rounded toe from the table and gently place it onto the mat",
+    "Use the left arm to grab the medium-sized casual shoe and transfer it to the mat",
+    "Using the left arm, lift the shoe for everyday walking from the table and place it onto the mat",
+    "Lift the the shoe for everyday walking from the table and place it onto the mat",
+    "Lift the shoe for everyday walking using the left arm from the table and place it on the mat",
+    "With the left arm, grab the shoe with black heel patch from the table and place it on the mat",
+    "Use the left arm to pick the synthetic leather white shoe and position it on the mat",
+    "Use the left arm to pick up the shoe with black back detail from the table and drop it on the mat",
+    "Grab the synthetic leather white shoe from the table and place it on the mat",
+    "Use the left arm to grab the the soft rubber-soled white shoe and put it on the mat",
+    "Lift the medium-sized casual shoe from the table and place it carefully on the mat",
+    "Lift the synthetic leather white shoe off the table using the left arm and drop it on the mat",
+    "Use the left arm to pick the shoe with black back detail off the table and move it onto the mat",
+    "Take the shoe with lace-up front from the table and carefully drop it on the mat",
+    "Retrieve the synthetic leather white shoe from the table and set it on the mat",
+    "Pick up the synthetic leather white shoe and move it to the mat",
+    "Take the shoe with black heel patch from the table and position it on the mat",
+    "Grab the shoe with black heel patch using the left arm, move it from the table to the mat",
+    "Use the left arm to grab the white shoe with rounded toe from the table and move it to the mat",
+    "Pick the shoe with lace-up front up from the table and put it on the mat",
+    "Remove the white shoe with rounded toe from the table and lay it on the mat",
+    "Take the the soft rubber-soled white shoe off the table and put it on the mat",
+    "Move the medium-sized casual shoe from the table to the mat",
+    "Take the the white shoe with curved sole from the table using the left arm and drop it on the mat",
+    "Grab the the white shoe with curved sole on the table and move it to the mat",
+    "Take the shoe with black back detail with the left arm and place it carefully on the mat",
+    "Pick up the shoe for everyday walking with the left arm from the table and place it on the mat",
+    "Using the left arm, grasp the white shoe with rounded toe from the table and place it onto the mat",
+    "Grab the synthetic leather white shoe from the table with the left arm and place it on the mat",
+    "Use the left arm to lift the shoe with black back detail from the table and set it on the mat",
+    "Use the left arm to grab the the sleek white walking shoe from the table and set it on the mat",
+    "Take the soft rubber-soled white shoe and put it on the mat",
+    "Move the white shoe with rounded toe from the table to the mat",
+    "Pick up the medium-sized casual shoe with the left arm, move it from the table, and set it on the mat",
+    "Pick the shoe with black heel patch up from the table and drop it directly on the mat",
+    "Grab the medium-sized casual shoe using the left arm and drop it on the mat",
+    "Take the white shoe with rounded toe from the table and put it on the mat",
+    "Pick the the white shoe with rounded toe off the table and position it on the mat",
+    "Use the left arm to lift the the medium-sized casual shoe from the table and set it on the mat",
+    "Transfer the white shoe with rounded toe from the table to the mat",
+    "Use the left arm to lift the sleek white walking shoe from the table and set it on the mat",
+    "Move the soft rubber-soled white shoe from the table and place it down on the mat",
+    "Move the medium-sized casual shoe from the table to the mat in one fluid motion",
+    "Pick up the synthetic leather white shoe from the table and set it on the mat",
+    "Pick the the white shoe with rounded toe from the table and place it gently on the mat",
+    "With the left arm, pick the soft rubber-soled white shoe up from the table and put it on the mat",
+    "Lift the the shoe for everyday walking from the table using the left arm and place it on the mat",
+    "Lift the shoe with black heel patch and place it on the mat"
+  ],
+  "unseen": [
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Use the left arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Use the left arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Use the left arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Use the left arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Use the left arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Use the left arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode87.json b/place_shoe/demo_clean/instructions/episode87.json
new file mode 100644
index 0000000000000000000000000000000000000000..3593d4905c79831b97ab20104bd172889ed2c22a
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode87.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth leather shoe using the left arm from the table and place it on the mat",
+    "Grab the brown shoe using the left arm, move it from the table to the mat",
+    "Grab the shoe with lace holes from the table with the left arm and place it on the mat",
+    "Move the medium-sized walking shoe from the table to the mat",
+    "Lift the the shoe for walking with rubber grip from the table and place it onto the mat",
+    "Pick up the shoe with grooved bottom with the left arm from the table and place it on the mat",
+    "Use the left arm to grab the rounded front shoe and transfer it to the mat",
+    "Take the shoe for everyday wear and put it on the mat",
+    "With the left arm, grab the smooth leather shoe from the table and place it on the mat",
+    "Move the smooth leather shoe from the table and place it down on the mat",
+    "Lift the brown shoe off the table using the left arm and drop it on the mat",
+    "Using the left arm, grasp the shoe with grooved bottom from the table and place it onto the mat",
+    "Lift the shoe with thick rubber sole from the table and place it carefully on the mat",
+    "Use the left arm to pick up the shoe for walking with rubber grip from the table and drop it on the mat",
+    "Take the the brown shoe from the table using the left arm and drop it on the mat",
+    "Transfer the dark brown leather shoe from the table to the mat",
+    "Grab the the dark brown leather shoe on the table and move it to the mat",
+    "Move the shoe with thick rubber sole from the table to the mat in one fluid motion",
+    "Pick the the rounded tip leather shoe off the table and position it on the mat",
+    "Lift the the rounded front shoe from the table using the left arm and place it on the mat",
+    "Take the the smooth leather shoe off the table and put it on the mat",
+    "Use the left arm to grab the the dark shoe with grooves on sole from the table and set it on the mat",
+    "Retrieve the rounded front shoe from the table and set it on the mat",
+    "Use the left arm to grab the shoe for everyday wear from the table and move it to the mat",
+    "Take the shoe for walking with rubber grip from the table and carefully drop it on the mat",
+    "Pick the the shoe for everyday wear from the table and place it gently on the mat",
+    "Take the shoe with thick rubber sole from the table and put it on the mat",
+    "Using the left arm, lift the brown shoe from the table and place it onto the mat",
+    "Remove the shoe for walking with rubber grip from the table and lay it on the mat",
+    "Use the left arm to grab the the medium-sized walking shoe and put it on the mat",
+    "Take the dark brown leather shoe from the table and position it on the mat",
+    "Use the left arm to pick the rounded tip leather shoe and position it on the mat",
+    "Use the left arm to lift the the dark shoe with grooves on sole from the table and set it on the mat",
+    "Pick up the shoe with lace holes and move it to the mat",
+    "Use the left arm to lift the smooth leather shoe from the table and set it on the mat",
+    "Lift the shoe with thick rubber sole and place it on the mat",
+    "Grab the rounded front shoe using the left arm and drop it on the mat",
+    "Use the left arm to pick the shoe with lace holes off the table and move it onto the mat",
+    "Move the rounded tip leather shoe from the table to the mat",
+    "Pick the dark shoe with grooves on sole up from the table and put it on the mat",
+    "With the left arm, pick the rounded front shoe up from the table and put it on the mat",
+    "Lift the medium-sized walking shoe from the table and gently place it onto the mat",
+    "Take the dark shoe with grooves on sole from the table and place it on the mat",
+    "Use the left arm to lift the rounded front shoe from the table and set it on the mat",
+    "Grab the smooth leather shoe from the table and place it on the mat",
+    "Take the medium-sized walking shoe with the left arm and place it carefully on the mat",
+    "Pick the smooth leather shoe up from the table and drop it directly on the mat",
+    "Pick up the shoe with thick rubber sole from the table and set it on the mat",
+    "Pick up the shoe with lace holes with the left arm, move it from the table, and set it on the mat",
+    "With the left arm, grab the smooth leather shoe off the table and place it onto the mat",
+    "Lift the shoe with lace holes using the left arm from the table and place it on the mat",
+    "Grab the dark shoe with grooves on sole using the left arm, move it from the table to the mat",
+    "Grab the shoe with thick rubber sole from the table with the left arm and place it on the mat",
+    "Move the shoe with thick rubber sole from the table to the mat",
+    "Lift the the smooth leather shoe from the table and place it onto the mat",
+    "Pick up the shoe for everyday wear with the left arm from the table and place it on the mat",
+    "Use the left arm to grab the shoe with thick rubber sole and transfer it to the mat",
+    "Take the shoe with grooved bottom and put it on the mat",
+    "With the left arm, grab the rounded tip leather shoe from the table and place it on the mat",
+    "Move the rounded tip leather shoe from the table and place it down on the mat",
+    "Lift the shoe with thick rubber sole off the table using the left arm and drop it on the mat",
+    "Using the left arm, grasp the shoe for everyday wear from the table and place it onto the mat",
+    "Lift the shoe for walking with rubber grip from the table and place it carefully on the mat",
+    "Use the left arm to pick up the shoe with lace holes from the table and drop it on the mat",
+    "Take the the shoe with thick rubber sole from the table using the left arm and drop it on the mat",
+    "Transfer the rounded front shoe from the table to the mat",
+    "Grab the the smooth leather shoe on the table and move it to the mat",
+    "Move the brown shoe from the table to the mat in one fluid motion",
+    "Pick the the shoe with lace holes off the table and position it on the mat",
+    "Lift the the shoe for walking with rubber grip from the table using the left arm and place it on the mat",
+    "Take the the shoe with thick rubber sole off the table and put it on the mat",
+    "Use the left arm to grab the the shoe for walking with rubber grip from the table and set it on the mat",
+    "Retrieve the brown shoe from the table and set it on the mat",
+    "Use the left arm to grab the shoe for everyday wear from the table and move it to the mat",
+    "Take the medium-sized walking shoe from the table and carefully drop it on the mat",
+    "Pick the the shoe with grooved bottom from the table and place it gently on the mat",
+    "Take the shoe for everyday wear from the table and put it on the mat",
+    "Using the left arm, lift the dark brown leather shoe from the table and place it onto the mat",
+    "Remove the brown shoe from the table and lay it on the mat",
+    "Use the left arm to grab the the medium-sized walking shoe and put it on the mat",
+    "Take the brown shoe from the table and position it on the mat",
+    "Use the left arm to pick the dark shoe with grooves on sole and position it on the mat",
+    "Use the left arm to lift the the dark shoe with grooves on sole from the table and set it on the mat",
+    "Pick up the shoe with lace holes and move it to the mat",
+    "Use the left arm to lift the medium-sized walking shoe from the table and set it on the mat",
+    "Lift the brown shoe and place it on the mat",
+    "Grab the shoe with lace holes using the left arm and drop it on the mat",
+    "Use the left arm to pick the rounded tip leather shoe off the table and move it onto the mat",
+    "Move the medium-sized walking shoe from the table to the mat",
+    "Pick the shoe with lace holes up from the table and put it on the mat",
+    "With the left arm, pick the rounded front shoe up from the table and put it on the mat",
+    "Lift the rounded tip leather shoe from the table and gently place it onto the mat",
+    "Take the smooth leather shoe from the table and place it on the mat",
+    "Use the left arm to lift the medium-sized walking shoe from the table and set it on the mat",
+    "Grab the medium-sized walking shoe from the table and place it on the mat",
+    "Take the shoe with thick rubber sole with the left arm and place it carefully on the mat",
+    "Pick the dark brown leather shoe up from the table and drop it directly on the mat",
+    "Pick up the dark shoe with grooves on sole from the table and set it on the mat",
+    "Pick up the shoe for everyday wear with the left arm, move it from the table, and set it on the mat",
+    "With the left arm, grab the shoe with lace holes off the table and place it onto the mat"
+  ],
+  "unseen": [
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Pick up the the brown shoe with sturdy sole from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the left arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Use the left arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Use the left arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the left arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the left arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Use the left arm to grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the left arm to lift the casual brown shoe and drop it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the left arm to grab the casual brown shoe from the table and place it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the left arm to lift the brown shoe with sturdy sole and drop it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the left arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the casual brown shoe off the table and drop it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it down on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the left arm to lift the casual brown shoe and drop it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the left arm to grab the casual brown shoe from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Use the left arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the left arm to grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Grab the brown footwear with smooth texture and set it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Pick up the the brown footwear with smooth texture from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole from the table and place it on the mat",
+    "Use the left arm to lift the casual brown shoe and drop it on the mat",
+    "Grab the the brown shoe with sturdy sole from the table and set it on the mat",
+    "Use the left arm to grab the casual brown shoe from the table and place it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture off the table and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown shoe with sturdy sole from the table and set it on the mat",
+    "Grab the brown footwear with smooth texture from the table and place it on the mat",
+    "Use the left arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the the brown footwear with smooth texture from the table and set it on the mat",
+    "Use the left arm to grab the casual brown shoe from the table and place it on the mat",
+    "Grab the casual brown shoe and set it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the brown shoe with sturdy sole off the table and drop it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it down on the mat",
+    "Pick up the the casual brown shoe from the table and place it on the mat",
+    "Pick up the brown footwear with smooth texture from the table and set it on the mat",
+    "Grab the casual brown shoe from the table and place it on the mat",
+    "Use the left arm to lift the brown footwear with smooth texture and drop it on the mat",
+    "Grab the the casual brown shoe from the table and set it on the mat",
+    "Use the left arm to grab the casual brown shoe from the table and place it on the mat",
+    "Grab the brown shoe with sturdy sole and set it on the mat",
+    "Pick up the casual brown shoe from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode88.json b/place_shoe/demo_clean/instructions/episode88.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b398a9111f0b52b3334fa82360c8aaeb7aa78a5
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode88.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the sports shoe up from the table and put it on the mat",
+    "Lift the red sneaker from the table and gently place it onto the mat",
+    "Take the the shoe with flat rubber sole from the table using the left arm and drop it on the mat",
+    "Pick up the lace-up red sports shoe with the left arm from the table and place it on the mat",
+    "Use the left arm to grab the white bottom sports shoe from the table and move it to the mat",
+    "Take the shoe with flat rubber sole and put it on the mat",
+    "With the left arm, pick the grooved sole red shoe up from the table and put it on the mat",
+    "Take the the white bottom sports shoe off the table and put it on the mat",
+    "Remove the red shoe rounded at front from the table and lay it on the mat",
+    "Move the sports shoe from the table to the mat",
+    "Take the shoe with flat rubber sole from the table and position it on the mat",
+    "Lift the the red shoe rounded at front from the table using the left arm and place it on the mat",
+    "Transfer the white bottom sports shoe from the table to the mat",
+    "Use the left arm to grab the red sneaker and transfer it to the mat",
+    "Pick the the medium red shoe off the table and position it on the mat",
+    "Pick up the medium red shoe from the table and set it on the mat",
+    "Take the grooved sole red shoe with the left arm and place it carefully on the mat",
+    "Use the left arm to pick up the red shoe with white sole from the table and drop it on the mat",
+    "Use the left arm to pick the shoe with flat rubber sole and position it on the mat",
+    "Lift the red shoe with white sole and place it on the mat",
+    "Grab the grooved sole red shoe using the left arm and drop it on the mat",
+    "Take the footwear with red top white sole from the table and place it on the mat",
+    "Grab the the lace-up red sports shoe on the table and move it to the mat",
+    "Lift the red sneaker off the table using the left arm and drop it on the mat",
+    "Lift the the single red shoe from the table and place it onto the mat",
+    "Use the left arm to lift the footwear with red top white sole from the table and set it on the mat",
+    "Lift the smooth-textured red shoe using the left arm from the table and place it on the mat",
+    "Use the left arm to lift the the lace-up red sports shoe from the table and set it on the mat",
+    "Grab the shoe with flat rubber sole from the table with the left arm and place it on the mat",
+    "Pick the shoe with flat rubber sole up from the table and drop it directly on the mat",
+    "Retrieve the red shoe with white sole from the table and set it on the mat",
+    "Take the red sneaker from the table and put it on the mat",
+    "Grab the shoe with flat rubber sole from the table and place it on the mat",
+    "Using the left arm, lift the single red shoe from the table and place it onto the mat",
+    "Pick up the sports shoe and move it to the mat",
+    "Use the left arm to lift the red shoe with white sole from the table and set it on the mat",
+    "With the left arm, grab the red shoe rounded at front from the table and place it on the mat",
+    "Pick up the smooth-textured red shoe with the left arm, move it from the table, and set it on the mat",
+    "Take the red sneaker from the table and carefully drop it on the mat",
+    "Move the sports shoe from the table and place it down on the mat",
+    "Use the left arm to pick the medium red shoe off the table and move it onto the mat",
+    "Pick the the shoe with flat rubber sole from the table and place it gently on the mat",
+    "Move the single red shoe from the table to the mat in one fluid motion",
+    "Grab the white bottom sports shoe using the left arm, move it from the table to the mat",
+    "With the left arm, grab the red shoe rounded at front off the table and place it onto the mat",
+    "Using the left arm, grasp the single red shoe from the table and place it onto the mat",
+    "Move the grooved sole red shoe from the table to the mat",
+    "Use the left arm to grab the the red shoe rounded at front and put it on the mat",
+    "Lift the red sneaker from the table and place it carefully on the mat",
+    "Use the left arm to grab the the red sneaker from the table and set it on the mat",
+    "Pick the red sneaker up from the table and put it on the mat",
+    "Lift the sports shoe from the table and gently place it onto the mat",
+    "Take the the shoe with flat rubber sole from the table using the left arm and drop it on the mat",
+    "Pick up the shoe with flat rubber sole with the left arm from the table and place it on the mat",
+    "Use the left arm to grab the medium red shoe from the table and move it to the mat",
+    "Take the sports shoe and put it on the mat",
+    "With the left arm, pick the red shoe rounded at front up from the table and put it on the mat",
+    "Take the the red shoe rounded at front off the table and put it on the mat",
+    "Remove the footwear with red top white sole from the table and lay it on the mat",
+    "Move the lace-up red sports shoe from the table to the mat",
+    "Take the white bottom sports shoe from the table and position it on the mat",
+    "Lift the the white bottom sports shoe from the table using the left arm and place it on the mat",
+    "Transfer the white bottom sports shoe from the table to the mat",
+    "Use the left arm to grab the lace-up red sports shoe and transfer it to the mat",
+    "Pick the the red shoe rounded at front off the table and position it on the mat",
+    "Pick up the medium red shoe from the table and set it on the mat",
+    "Take the lace-up red sports shoe with the left arm and place it carefully on the mat",
+    "Use the left arm to pick up the shoe with flat rubber sole from the table and drop it on the mat",
+    "Use the left arm to pick the medium red shoe and position it on the mat",
+    "Lift the sports shoe and place it on the mat",
+    "Grab the lace-up red sports shoe using the left arm and drop it on the mat",
+    "Take the smooth-textured red shoe from the table and place it on the mat",
+    "Grab the the smooth-textured red shoe on the table and move it to the mat",
+    "Lift the smooth-textured red shoe off the table using the left arm and drop it on the mat",
+    "Lift the the red shoe rounded at front from the table and place it onto the mat",
+    "Use the left arm to lift the shoe with flat rubber sole from the table and set it on the mat",
+    "Lift the red sneaker using the left arm from the table and place it on the mat",
+    "Use the left arm to lift the the footwear with red top white sole from the table and set it on the mat",
+    "Grab the red sneaker from the table with the left arm and place it on the mat",
+    "Pick the grooved sole red shoe up from the table and drop it directly on the mat",
+    "Retrieve the red shoe with white sole from the table and set it on the mat",
+    "Take the red sneaker from the table and put it on the mat",
+    "Grab the red shoe with white sole from the table and place it on the mat",
+    "Using the left arm, lift the grooved sole red shoe from the table and place it onto the mat",
+    "Pick up the red sneaker and move it to the mat",
+    "Use the left arm to lift the grooved sole red shoe from the table and set it on the mat",
+    "With the left arm, grab the red sneaker from the table and place it on the mat",
+    "Pick up the red shoe with white sole with the left arm, move it from the table, and set it on the mat",
+    "Take the single red shoe from the table and carefully drop it on the mat",
+    "Move the red shoe with white sole from the table and place it down on the mat",
+    "Use the left arm to pick the shoe with flat rubber sole off the table and move it onto the mat",
+    "Pick the the footwear with red top white sole from the table and place it gently on the mat",
+    "Move the red shoe rounded at front from the table to the mat in one fluid motion",
+    "Grab the grooved sole red shoe using the left arm, move it from the table to the mat",
+    "With the left arm, grab the smooth-textured red shoe off the table and place it onto the mat",
+    "Using the left arm, grasp the smooth-textured red shoe from the table and place it onto the mat",
+    "Move the single red shoe from the table to the mat",
+    "Use the left arm to grab the the red sneaker and put it on the mat",
+    "Lift the red shoe with white sole from the table and place it carefully on the mat",
+    "Use the left arm to grab the the medium red shoe from the table and set it on the mat"
+  ],
+  "unseen": [
+    "Use the left arm to lift the red shoe and drop it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Use the left arm to grab the red shoe from the table and place it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Use the left arm to lift the red shoe and drop it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Use the left arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Use the left arm to lift the synthetic shoe upper and drop it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Use the left arm to grab the red shoe from the table and place it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Use the left arm to lift the red sneaker medium sized and drop it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Use the left arm to grab the red shoe from the table and place it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Use the left arm to lift the red sneaker medium sized and drop it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Use the left arm to grab the red shoe from the table and place it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Use the left arm to lift the red shoe and drop it on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Use the left arm to grab the red shoe from the table and place it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Use the left arm to lift the red sneaker medium sized and drop it on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Use the left arm to grab the red shoe from the table and place it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Use the left arm to lift the synthetic shoe upper and drop it on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Use the left arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Grab the red shoe and set it on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Use the left arm to lift the red shoe and drop it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Use the left arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Use the left arm to lift the red shoe and drop it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Use the left arm to grab the red shoe from the table and place it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode89.json b/place_shoe/demo_clean/instructions/episode89.json
new file mode 100644
index 0000000000000000000000000000000000000000..489ac0ea1470dd15548bf30a480c4df0e4fddaff
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode89.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the black and white shoe and put it on the mat",
+    "Using the left arm, lift the shoe with curved sole from the table and place it onto the mat",
+    "Take the black and white shoe from the table and put it on the mat",
+    "Lift the black shoe with white accents from the table and gently place it onto the mat",
+    "Take the the dual-tone shoe with sleek design from the table using the left arm and drop it on the mat",
+    "Take the rubber-soled shoe with lace-up top from the table and carefully drop it on the mat",
+    "Lift the shoe with curved sole from the table and place it carefully on the mat",
+    "Move the shoe made of rubber and leather from the table to the mat in one fluid motion",
+    "Grab the dual-tone shoe with sleek design from the table and place it on the mat",
+    "Use the left arm to grab the the rubber-soled shoe with lace-up top from the table and set it on the mat",
+    "Take the average adult-sized shoe with the left arm and place it carefully on the mat",
+    "Move the black and white shoe from the table and place it down on the mat",
+    "With the left arm, pick the black shoe with white accents up from the table and put it on the mat",
+    "Take the synthetic leather shoe from the table and place it on the mat",
+    "Lift the comfortable shoe for walking using the left arm from the table and place it on the mat",
+    "Lift the shoe with curved sole off the table using the left arm and drop it on the mat",
+    "Move the rubber-soled shoe with lace-up top from the table to the mat",
+    "With the left arm, grab the shoe with curved sole off the table and place it onto the mat",
+    "Retrieve the wearable foot protector shoe from the table and set it on the mat",
+    "Use the left arm to grab the comfortable shoe for walking from the table and move it to the mat",
+    "Use the left arm to grab the comfortable shoe for walking and transfer it to the mat",
+    "Use the left arm to pick the rubber-soled shoe with lace-up top and position it on the mat",
+    "Pick the average adult-sized shoe up from the table and drop it directly on the mat",
+    "Use the left arm to lift the shoe with smooth top and grippy sole from the table and set it on the mat",
+    "Use the left arm to grab the the dual-tone shoe with sleek design and put it on the mat",
+    "Lift the the shoe with smooth top and grippy sole from the table and place it onto the mat",
+    "Use the left arm to lift the black shoe with white accents from the table and set it on the mat",
+    "Grab the rubber-soled shoe with lace-up top using the left arm, move it from the table to the mat",
+    "Use the left arm to pick the synthetic leather shoe off the table and move it onto the mat",
+    "Pick up the medium-sized black and white shoe from the table and set it on the mat",
+    "Transfer the dual-tone shoe with sleek design from the table to the mat",
+    "Lift the medium-sized black and white shoe and place it on the mat",
+    "Pick the wearable foot protector shoe up from the table and put it on the mat",
+    "Pick up the wearable foot protector shoe with the left arm from the table and place it on the mat",
+    "Pick the the black shoe with white accents from the table and place it gently on the mat",
+    "Pick up the black shoe with white accents and move it to the mat",
+    "Lift the the average adult-sized shoe from the table using the left arm and place it on the mat",
+    "Take the black and white shoe from the table and position it on the mat",
+    "With the left arm, grab the synthetic leather shoe from the table and place it on the mat",
+    "Pick up the shoe with smooth top and grippy sole with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to pick up the rubber-soled shoe with lace-up top from the table and drop it on the mat",
+    "Move the shoe with curved sole from the table to the mat",
+    "Using the left arm, grasp the synthetic leather shoe from the table and place it onto the mat",
+    "Grab the shoe with smooth top and grippy sole using the left arm and drop it on the mat",
+    "Use the left arm to lift the the black shoe with white accents from the table and set it on the mat",
+    "Take the the rubber-soled shoe with lace-up top off the table and put it on the mat",
+    "Remove the dual-tone shoe with sleek design from the table and lay it on the mat",
+    "Grab the the medium-sized black and white shoe on the table and move it to the mat",
+    "Pick the the shoe made of rubber and leather off the table and position it on the mat",
+    "Grab the shoe with smooth top and grippy sole from the table with the left arm and place it on the mat",
+    "Take the shoe with smooth top and grippy sole and put it on the mat",
+    "Using the left arm, lift the black shoe with white accents from the table and place it onto the mat",
+    "Take the synthetic leather shoe from the table and put it on the mat",
+    "Lift the rubber-soled shoe with lace-up top from the table and gently place it onto the mat",
+    "Take the the medium-sized black and white shoe from the table using the left arm and drop it on the mat",
+    "Take the shoe with smooth top and grippy sole from the table and carefully drop it on the mat",
+    "Lift the shoe with smooth top and grippy sole from the table and place it carefully on the mat",
+    "Move the dual-tone shoe with sleek design from the table to the mat in one fluid motion",
+    "Grab the shoe made of rubber and leather from the table and place it on the mat",
+    "Use the left arm to grab the the shoe with smooth top and grippy sole from the table and set it on the mat",
+    "Take the rubber-soled shoe with lace-up top with the left arm and place it carefully on the mat",
+    "Move the rubber-soled shoe with lace-up top from the table and place it down on the mat",
+    "With the left arm, pick the comfortable shoe for walking up from the table and put it on the mat",
+    "Take the medium-sized black and white shoe from the table and place it on the mat",
+    "Lift the dual-tone shoe with sleek design using the left arm from the table and place it on the mat",
+    "Lift the comfortable shoe for walking off the table using the left arm and drop it on the mat",
+    "Move the shoe with smooth top and grippy sole from the table to the mat",
+    "With the left arm, grab the black shoe with white accents off the table and place it onto the mat",
+    "Retrieve the rubber-soled shoe with lace-up top from the table and set it on the mat",
+    "Use the left arm to grab the rubber-soled shoe with lace-up top from the table and move it to the mat",
+    "Use the left arm to grab the shoe made of rubber and leather and transfer it to the mat",
+    "Use the left arm to pick the rubber-soled shoe with lace-up top and position it on the mat",
+    "Pick the wearable foot protector shoe up from the table and drop it directly on the mat",
+    "Use the left arm to lift the wearable foot protector shoe from the table and set it on the mat",
+    "Use the left arm to grab the the shoe with smooth top and grippy sole and put it on the mat",
+    "Lift the the synthetic leather shoe from the table and place it onto the mat",
+    "Use the left arm to lift the shoe with smooth top and grippy sole from the table and set it on the mat",
+    "Grab the shoe made of rubber and leather using the left arm, move it from the table to the mat",
+    "Use the left arm to pick the black and white shoe off the table and move it onto the mat",
+    "Pick up the shoe made of rubber and leather from the table and set it on the mat",
+    "Transfer the average adult-sized shoe from the table to the mat",
+    "Lift the black shoe with white accents and place it on the mat",
+    "Pick the synthetic leather shoe up from the table and put it on the mat",
+    "Pick up the black shoe with white accents with the left arm from the table and place it on the mat",
+    "Pick the the average adult-sized shoe from the table and place it gently on the mat",
+    "Pick up the shoe with smooth top and grippy sole and move it to the mat",
+    "Lift the the wearable foot protector shoe from the table using the left arm and place it on the mat",
+    "Take the dual-tone shoe with sleek design from the table and position it on the mat",
+    "With the left arm, grab the black and white shoe from the table and place it on the mat",
+    "Pick up the black and white shoe with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to pick up the average adult-sized shoe from the table and drop it on the mat",
+    "Move the medium-sized black and white shoe from the table to the mat",
+    "Using the left arm, grasp the black and white shoe from the table and place it onto the mat",
+    "Grab the synthetic leather shoe using the left arm and drop it on the mat",
+    "Use the left arm to lift the the medium-sized black and white shoe from the table and set it on the mat",
+    "Take the the medium-sized black and white shoe off the table and put it on the mat",
+    "Remove the shoe made of rubber and leather from the table and lay it on the mat",
+    "Grab the the shoe with curved sole on the table and move it to the mat",
+    "Pick the the dual-tone shoe with sleek design off the table and position it on the mat",
+    "Grab the comfortable shoe for walking from the table with the left arm and place it on the mat"
+  ],
+  "unseen": [
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Use the left arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Use the left arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Use the left arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Use the left arm to lift the black shoe with white midsole and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Use the left arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Use the left arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Use the left arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Use the left arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Use the left arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it down on the mat",
+    "Pick up the the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Use the left arm to lift the black shoe with curved white sole and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Use the left arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Use the left arm to lift the black shoe with white midsole and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Grab the shoe with padded collar and tongue off the table and drop it on the mat",
+    "Grab the black shoe with curved white sole and set it on the mat",
+    "Use the left arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Use the left arm to lift the black shoe with white midsole and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Use the left arm to grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the black shoe with curved white sole from the table and place it on the mat",
+    "Use the left arm to lift the black shoe with white midsole and drop it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with white midsole off the table and drop it on the mat",
+    "Grab the black shoe with white midsole and set it on the mat",
+    "Use the left arm to grab the black shoe with white midsole from the table and place it on the mat",
+    "Grab the the black shoe with curved white sole from the table and set it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it down on the mat",
+    "Pick up the the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the black shoe with white midsole from the table and place it on the mat",
+    "Use the left arm to lift the shoe with padded collar and tongue and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the black shoe with white midsole from the table and set it on the mat",
+    "Grab the black shoe with curved white sole off the table and drop it on the mat",
+    "Grab the shoe with padded collar and tongue and set it on the mat",
+    "Use the left arm to grab the black shoe with curved white sole from the table and place it on the mat",
+    "Grab the the black shoe with white midsole from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it down on the mat",
+    "Pick up the the black shoe with white midsole from the table and place it on the mat",
+    "Grab the shoe with padded collar and tongue from the table and place it on the mat",
+    "Use the left arm to lift the black shoe with white midsole and drop it on the mat",
+    "Pick up the shoe with padded collar and tongue from the table and set it on the mat",
+    "Pick up the black shoe with curved white sole from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode9.json b/place_shoe/demo_clean/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b683eccf574199099ac6291b6f98e65bc6ddd8b
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the the shoe with textured sole off the table and position it on the mat",
+    "With the left arm, grab the white sneaker shoe from the table and place it on the mat",
+    "Use the left arm to pick the shoe with curved sole and position it on the mat",
+    "Pick up the white shoe with rubber sole from the table and set it on the mat",
+    "Lift the white sneaker shoe using the left arm from the table and place it on the mat",
+    "Pick the white sneaker shoe up from the table and put it on the mat",
+    "Take the the smooth white shoe from the table using the left arm and drop it on the mat",
+    "Grab the shoe with patterned bottom from the table and place it on the mat",
+    "Pick the the white shoe with rubber sole from the table and place it gently on the mat",
+    "Use the left arm to grab the the white sneaker shoe from the table and set it on the mat",
+    "Take the the medium-sized rounded white shoe off the table and put it on the mat",
+    "With the left arm, pick the smooth white shoe up from the table and put it on the mat",
+    "Pick up the synthetic leather shoe and move it to the mat",
+    "Take the shoe with curved sole with the left arm and place it carefully on the mat",
+    "Pick the shoe with lace holes up from the table and drop it directly on the mat",
+    "Take the white shoe with rubber sole from the table and put it on the mat",
+    "Remove the white sneaker shoe from the table and lay it on the mat",
+    "Take the shoe with textured sole from the table and position it on the mat",
+    "Using the left arm, grasp the shoe for walking from the table and place it onto the mat",
+    "Take the shoe with textured sole and put it on the mat",
+    "Use the left arm to grab the rubber sole shoe and transfer it to the mat",
+    "Transfer the medium-sized rounded white shoe from the table to the mat",
+    "Use the left arm to pick the medium-sized rounded white shoe off the table and move it onto the mat",
+    "Grab the the white shoe with rubber sole on the table and move it to the mat",
+    "Grab the shoe with curved sole using the left arm, move it from the table to the mat",
+    "Pick up the synthetic leather shoe with the left arm, move it from the table, and set it on the mat",
+    "Lift the rubber sole shoe off the table using the left arm and drop it on the mat",
+    "Lift the the white sneaker shoe from the table using the left arm and place it on the mat",
+    "Pick up the medium white shoe with the left arm from the table and place it on the mat",
+    "Retrieve the shoe with curved sole from the table and set it on the mat",
+    "Lift the the synthetic leather shoe from the table and place it onto the mat",
+    "Use the left arm to lift the rubber sole shoe from the table and set it on the mat",
+    "Lift the shoe with patterned bottom from the table and place it carefully on the mat",
+    "Lift the smooth white shoe from the table and gently place it onto the mat",
+    "Grab the rubber sole shoe using the left arm and drop it on the mat",
+    "Use the left arm to grab the the medium white shoe and put it on the mat",
+    "Move the shoe with patterned bottom from the table to the mat",
+    "Use the left arm to pick up the shoe with patterned bottom from the table and drop it on the mat",
+    "Lift the shoe with textured sole and place it on the mat",
+    "With the left arm, grab the medium white shoe off the table and place it onto the mat",
+    "Use the left arm to lift the the shoe with curved sole from the table and set it on the mat",
+    "Move the shoe with curved sole from the table to the mat in one fluid motion",
+    "Take the white sneaker shoe from the table and place it on the mat",
+    "Using the left arm, lift the medium white shoe from the table and place it onto the mat",
+    "Use the left arm to lift the medium white shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe with rubber sole from the table and move it to the mat",
+    "Take the shoe with curved sole from the table and carefully drop it on the mat",
+    "Move the white sneaker shoe from the table to the mat",
+    "Grab the shoe with textured sole from the table with the left arm and place it on the mat",
+    "Move the medium-sized rounded white shoe from the table and place it down on the mat",
+    "Pick the the shoe with curved sole off the table and position it on the mat",
+    "With the left arm, grab the shoe with patterned bottom from the table and place it on the mat",
+    "Use the left arm to pick the white sneaker shoe and position it on the mat",
+    "Pick up the synthetic leather shoe from the table and set it on the mat",
+    "Lift the rubber sole shoe using the left arm from the table and place it on the mat",
+    "Pick the shoe with lace holes up from the table and put it on the mat",
+    "Take the the shoe with patterned bottom from the table using the left arm and drop it on the mat",
+    "Grab the white shoe with rubber sole from the table and place it on the mat",
+    "Pick the the shoe for walking from the table and place it gently on the mat",
+    "Use the left arm to grab the the white shoe with rubber sole from the table and set it on the mat",
+    "Take the the shoe with patterned bottom off the table and put it on the mat",
+    "With the left arm, pick the shoe for walking up from the table and put it on the mat",
+    "Pick up the rubber sole shoe and move it to the mat",
+    "Take the shoe with curved sole with the left arm and place it carefully on the mat",
+    "Pick the shoe with patterned bottom up from the table and drop it directly on the mat",
+    "Take the medium white shoe from the table and put it on the mat",
+    "Remove the shoe with textured sole from the table and lay it on the mat",
+    "Take the rubber sole shoe from the table and position it on the mat",
+    "Using the left arm, grasp the smooth white shoe from the table and place it onto the mat",
+    "Take the shoe with patterned bottom and put it on the mat",
+    "Use the left arm to grab the medium-sized rounded white shoe and transfer it to the mat",
+    "Transfer the rubber sole shoe from the table to the mat",
+    "Use the left arm to pick the smooth white shoe off the table and move it onto the mat",
+    "Grab the the shoe with lace holes on the table and move it to the mat",
+    "Grab the white sneaker shoe using the left arm, move it from the table to the mat",
+    "Pick up the rubber sole shoe with the left arm, move it from the table, and set it on the mat",
+    "Lift the shoe with lace holes off the table using the left arm and drop it on the mat",
+    "Lift the the shoe with patterned bottom from the table using the left arm and place it on the mat",
+    "Pick up the white shoe with rubber sole with the left arm from the table and place it on the mat",
+    "Retrieve the medium-sized rounded white shoe from the table and set it on the mat",
+    "Lift the the shoe with patterned bottom from the table and place it onto the mat",
+    "Use the left arm to lift the shoe with textured sole from the table and set it on the mat",
+    "Lift the synthetic leather shoe from the table and place it carefully on the mat",
+    "Lift the white shoe with rubber sole from the table and gently place it onto the mat",
+    "Grab the rubber sole shoe using the left arm and drop it on the mat",
+    "Use the left arm to grab the the white sneaker shoe and put it on the mat",
+    "Move the shoe with patterned bottom from the table to the mat",
+    "Use the left arm to pick up the synthetic leather shoe from the table and drop it on the mat",
+    "Lift the shoe with textured sole and place it on the mat",
+    "With the left arm, grab the white sneaker shoe off the table and place it onto the mat",
+    "Use the left arm to lift the the medium-sized rounded white shoe from the table and set it on the mat",
+    "Move the shoe with lace holes from the table to the mat in one fluid motion",
+    "Take the shoe with curved sole from the table and place it on the mat",
+    "Using the left arm, lift the shoe with curved sole from the table and place it onto the mat",
+    "Use the left arm to lift the white sneaker shoe from the table and set it on the mat",
+    "Use the left arm to grab the shoe with textured sole from the table and move it to the mat",
+    "Take the smooth white shoe from the table and carefully drop it on the mat",
+    "Move the rubber sole shoe from the table to the mat",
+    "Grab the medium white shoe from the table with the left arm and place it on the mat",
+    "Move the white shoe with rubber sole from the table and place it down on the mat"
+  ],
+  "unseen": [
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode90.json b/place_shoe/demo_clean/instructions/episode90.json
new file mode 100644
index 0000000000000000000000000000000000000000..7812deb26e9dff993ef24e6ffc0b22862f429b8d
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode90.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the white sneaker shoe from the table and place it carefully on the mat",
+    "Use the right arm to lift the the rubber sole shoe from the table and set it on the mat",
+    "Take the medium white shoe from the table and place it on the mat",
+    "Take the medium-sized rounded white shoe from the table and position it on the mat",
+    "Using the right arm, lift the white shoe with rubber sole from the table and place it onto the mat",
+    "With the right arm, grab the white sneaker shoe from the table and place it on the mat",
+    "Move the shoe with textured sole from the table to the mat",
+    "Use the right arm to pick the smooth white shoe off the table and move it onto the mat",
+    "Use the right arm to pick up the white sneaker shoe from the table and drop it on the mat",
+    "Use the right arm to grab the medium-sized rounded white shoe and transfer it to the mat",
+    "Use the right arm to lift the shoe with lace holes from the table and set it on the mat",
+    "With the right arm, pick the shoe for walking up from the table and put it on the mat",
+    "Take the the shoe with textured sole off the table and put it on the mat",
+    "Pick up the smooth white shoe with the right arm, move it from the table, and set it on the mat",
+    "Move the white sneaker shoe from the table to the mat",
+    "Lift the white shoe with rubber sole from the table and gently place it onto the mat",
+    "With the right arm, grab the shoe for walking off the table and place it onto the mat",
+    "Move the white sneaker shoe from the table and place it down on the mat",
+    "Use the right arm to grab the the shoe for walking from the table and set it on the mat",
+    "Pick up the medium-sized rounded white shoe with the right arm from the table and place it on the mat",
+    "Lift the synthetic leather shoe and place it on the mat",
+    "Move the shoe for walking from the table to the mat in one fluid motion",
+    "Lift the white sneaker shoe off the table using the right arm and drop it on the mat",
+    "Take the smooth white shoe from the table and carefully drop it on the mat",
+    "Use the right arm to grab the shoe for walking from the table and move it to the mat",
+    "Pick the the shoe for walking off the table and position it on the mat",
+    "Using the right arm, grasp the white shoe with rubber sole from the table and place it onto the mat",
+    "Transfer the shoe with patterned bottom from the table to the mat",
+    "Grab the medium white shoe using the right arm, move it from the table to the mat",
+    "Use the right arm to grab the the synthetic leather shoe and put it on the mat",
+    "Use the right arm to lift the shoe with textured sole from the table and set it on the mat",
+    "Take the shoe for walking with the right arm and place it carefully on the mat",
+    "Remove the white sneaker shoe from the table and lay it on the mat",
+    "Grab the shoe with curved sole from the table with the right arm and place it on the mat",
+    "Take the shoe with textured sole and put it on the mat",
+    "Pick up the rubber sole shoe and move it to the mat",
+    "Grab the the shoe with textured sole on the table and move it to the mat",
+    "Lift the shoe for walking using the right arm from the table and place it on the mat",
+    "Grab the medium white shoe from the table and place it on the mat",
+    "Pick up the shoe with textured sole from the table and set it on the mat",
+    "Use the right arm to pick the shoe for walking and position it on the mat",
+    "Pick the the shoe with patterned bottom from the table and place it gently on the mat",
+    "Take the synthetic leather shoe from the table and put it on the mat",
+    "Pick the shoe with patterned bottom up from the table and put it on the mat",
+    "Take the the medium white shoe from the table using the right arm and drop it on the mat",
+    "Lift the the shoe with curved sole from the table using the right arm and place it on the mat",
+    "Lift the the shoe with textured sole from the table and place it onto the mat",
+    "Retrieve the medium-sized rounded white shoe from the table and set it on the mat",
+    "Pick the medium-sized rounded white shoe up from the table and drop it directly on the mat",
+    "Grab the shoe with lace holes using the right arm and drop it on the mat",
+    "Lift the synthetic leather shoe from the table and place it carefully on the mat",
+    "Use the right arm to lift the the white sneaker shoe from the table and set it on the mat",
+    "Take the shoe for walking from the table and place it on the mat",
+    "Take the shoe with patterned bottom from the table and position it on the mat",
+    "Using the right arm, lift the medium white shoe from the table and place it onto the mat",
+    "With the right arm, grab the white shoe with rubber sole from the table and place it on the mat",
+    "Move the medium-sized rounded white shoe from the table to the mat",
+    "Use the right arm to pick the medium-sized rounded white shoe off the table and move it onto the mat",
+    "Use the right arm to pick up the shoe with curved sole from the table and drop it on the mat",
+    "Use the right arm to grab the synthetic leather shoe and transfer it to the mat",
+    "Use the right arm to lift the shoe with lace holes from the table and set it on the mat",
+    "With the right arm, pick the rubber sole shoe up from the table and put it on the mat",
+    "Take the the shoe for walking off the table and put it on the mat",
+    "Pick up the rubber sole shoe with the right arm, move it from the table, and set it on the mat",
+    "Move the shoe with patterned bottom from the table to the mat",
+    "Lift the shoe for walking from the table and gently place it onto the mat",
+    "With the right arm, grab the synthetic leather shoe off the table and place it onto the mat",
+    "Move the rubber sole shoe from the table and place it down on the mat",
+    "Use the right arm to grab the the shoe with curved sole from the table and set it on the mat",
+    "Pick up the white sneaker shoe with the right arm from the table and place it on the mat",
+    "Lift the shoe with curved sole and place it on the mat",
+    "Move the shoe with textured sole from the table to the mat in one fluid motion",
+    "Lift the smooth white shoe off the table using the right arm and drop it on the mat",
+    "Take the shoe with curved sole from the table and carefully drop it on the mat",
+    "Use the right arm to grab the white shoe with rubber sole from the table and move it to the mat",
+    "Pick the the synthetic leather shoe off the table and position it on the mat",
+    "Using the right arm, grasp the smooth white shoe from the table and place it onto the mat",
+    "Transfer the medium white shoe from the table to the mat",
+    "Grab the medium white shoe using the right arm, move it from the table to the mat",
+    "Use the right arm to grab the the medium-sized rounded white shoe and put it on the mat",
+    "Use the right arm to lift the shoe with textured sole from the table and set it on the mat",
+    "Take the shoe with curved sole with the right arm and place it carefully on the mat",
+    "Remove the shoe with curved sole from the table and lay it on the mat",
+    "Grab the shoe for walking from the table with the right arm and place it on the mat",
+    "Take the synthetic leather shoe and put it on the mat",
+    "Pick up the white shoe with rubber sole and move it to the mat",
+    "Grab the the white shoe with rubber sole on the table and move it to the mat",
+    "Lift the synthetic leather shoe using the right arm from the table and place it on the mat",
+    "Grab the rubber sole shoe from the table and place it on the mat",
+    "Pick up the shoe with curved sole from the table and set it on the mat",
+    "Use the right arm to pick the shoe with textured sole and position it on the mat",
+    "Pick the the shoe with lace holes from the table and place it gently on the mat",
+    "Take the smooth white shoe from the table and put it on the mat",
+    "Pick the white shoe with rubber sole up from the table and put it on the mat",
+    "Take the the shoe with textured sole from the table using the right arm and drop it on the mat",
+    "Lift the the shoe with lace holes from the table using the right arm and place it on the mat",
+    "Lift the the white shoe with rubber sole from the table and place it onto the mat",
+    "Retrieve the white sneaker shoe from the table and set it on the mat",
+    "Pick the synthetic leather shoe up from the table and drop it directly on the mat",
+    "Grab the shoe with lace holes using the right arm and drop it on the mat"
+  ],
+  "unseen": [
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode91.json b/place_shoe/demo_clean/instructions/episode91.json
new file mode 100644
index 0000000000000000000000000000000000000000..91be00ff9ee144fed2d8926e185d08201ec2bb00
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode91.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the white shoe from the table and place it carefully on the mat",
+    "Lift the white shoe using the right arm from the table and place it on the mat",
+    "Grab the the medium-sized casual shoe on the table and move it to the mat",
+    "Take the sleek white walking shoe from the table and position it on the mat",
+    "Use the right arm to pick up the synthetic leather white shoe from the table and drop it on the mat",
+    "With the right arm, grab the shoe with black heel patch off the table and place it onto the mat",
+    "Move the white shoe with rounded toe from the table and place it down on the mat",
+    "Take the synthetic leather white shoe and put it on the mat",
+    "Use the right arm to grab the the shoe with black heel patch and put it on the mat",
+    "Move the white shoe from the table to the mat",
+    "Remove the sleek white walking shoe from the table and lay it on the mat",
+    "Use the right arm to grab the white shoe with rounded toe and transfer it to the mat",
+    "Lift the the medium-sized casual shoe from the table using the right arm and place it on the mat",
+    "Pick up the shoe for everyday walking with the right arm, move it from the table, and set it on the mat",
+    "Lift the the shoe with black back detail from the table and place it onto the mat",
+    "Use the right arm to lift the synthetic leather white shoe from the table and set it on the mat",
+    "Grab the white shoe with rounded toe using the right arm, move it from the table to the mat",
+    "Pick the white shoe up from the table and drop it directly on the mat",
+    "Pick up the white and black combination shoe with the right arm from the table and place it on the mat",
+    "Use the right arm to lift the the synthetic leather white shoe from the table and set it on the mat",
+    "Pick up the shoe for everyday walking from the table and set it on the mat",
+    "Pick the the white shoe from the table and place it gently on the mat",
+    "Take the shoe with black back detail from the table and carefully drop it on the mat",
+    "Take the the sleek white walking shoe from the table using the right arm and drop it on the mat",
+    "Take the shoe with lace-up front from the table and put it on the mat",
+    "Move the white and black combination shoe from the table to the mat",
+    "Take the soft rubber-soled white shoe from the table and place it on the mat",
+    "Lift the white shoe with rounded toe from the table and gently place it onto the mat",
+    "Grab the medium-sized casual shoe from the table and place it on the mat",
+    "Retrieve the shoe with black heel patch from the table and set it on the mat",
+    "Use the right arm to lift the medium-sized casual shoe from the table and set it on the mat",
+    "Transfer the white shoe with curved sole from the table to the mat",
+    "Take the white shoe with the right arm and place it carefully on the mat",
+    "Pick up the synthetic leather white shoe and move it to the mat",
+    "Use the right arm to grab the shoe with lace-up front from the table and move it to the mat",
+    "Grab the synthetic leather white shoe from the table with the right arm and place it on the mat",
+    "Pick the white shoe up from the table and put it on the mat",
+    "Using the right arm, grasp the shoe for everyday walking from the table and place it onto the mat",
+    "Lift the white shoe with curved sole off the table using the right arm and drop it on the mat",
+    "With the right arm, grab the shoe with black heel patch from the table and place it on the mat",
+    "Pick the the shoe for everyday walking off the table and position it on the mat",
+    "Grab the medium-sized casual shoe using the right arm and drop it on the mat",
+    "Use the right arm to pick the white shoe with rounded toe off the table and move it onto the mat",
+    "With the right arm, pick the white shoe up from the table and put it on the mat",
+    "Lift the shoe with black heel patch and place it on the mat",
+    "Use the right arm to grab the the shoe for everyday walking from the table and set it on the mat",
+    "Take the the white and black combination shoe off the table and put it on the mat",
+    "Move the shoe for everyday walking from the table to the mat in one fluid motion",
+    "Using the right arm, lift the synthetic leather white shoe from the table and place it onto the mat",
+    "Use the right arm to pick the medium-sized casual shoe and position it on the mat",
+    "Lift the shoe with lace-up front from the table and place it carefully on the mat",
+    "Lift the white shoe with curved sole using the right arm from the table and place it on the mat",
+    "Grab the the white shoe on the table and move it to the mat",
+    "Take the shoe with black back detail from the table and position it on the mat",
+    "Use the right arm to pick up the medium-sized casual shoe from the table and drop it on the mat",
+    "With the right arm, grab the white shoe off the table and place it onto the mat",
+    "Move the shoe with lace-up front from the table and place it down on the mat",
+    "Take the shoe with lace-up front and put it on the mat",
+    "Use the right arm to grab the the medium-sized casual shoe and put it on the mat",
+    "Move the white shoe from the table to the mat",
+    "Remove the white shoe with rounded toe from the table and lay it on the mat",
+    "Use the right arm to grab the white shoe with rounded toe and transfer it to the mat",
+    "Lift the the white shoe with curved sole from the table using the right arm and place it on the mat",
+    "Pick up the white shoe with rounded toe with the right arm, move it from the table, and set it on the mat",
+    "Lift the the shoe with black heel patch from the table and place it onto the mat",
+    "Use the right arm to lift the shoe with black back detail from the table and set it on the mat",
+    "Grab the white shoe with rounded toe using the right arm, move it from the table to the mat",
+    "Pick the white and black combination shoe up from the table and drop it directly on the mat",
+    "Pick up the shoe with lace-up front with the right arm from the table and place it on the mat",
+    "Use the right arm to lift the the sleek white walking shoe from the table and set it on the mat",
+    "Pick up the medium-sized casual shoe from the table and set it on the mat",
+    "Pick the the shoe with lace-up front from the table and place it gently on the mat",
+    "Take the soft rubber-soled white shoe from the table and carefully drop it on the mat",
+    "Take the the white shoe from the table using the right arm and drop it on the mat",
+    "Take the sleek white walking shoe from the table and put it on the mat",
+    "Move the medium-sized casual shoe from the table to the mat",
+    "Take the white shoe with rounded toe from the table and place it on the mat",
+    "Lift the white shoe from the table and gently place it onto the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Retrieve the soft rubber-soled white shoe from the table and set it on the mat",
+    "Use the right arm to lift the white shoe from the table and set it on the mat",
+    "Transfer the white shoe with rounded toe from the table to the mat",
+    "Take the shoe with black heel patch with the right arm and place it carefully on the mat",
+    "Pick up the sleek white walking shoe and move it to the mat",
+    "Use the right arm to grab the synthetic leather white shoe from the table and move it to the mat",
+    "Grab the medium-sized casual shoe from the table with the right arm and place it on the mat",
+    "Pick the sleek white walking shoe up from the table and put it on the mat",
+    "Using the right arm, grasp the shoe with black heel patch from the table and place it onto the mat",
+    "Lift the shoe with black back detail off the table using the right arm and drop it on the mat",
+    "With the right arm, grab the shoe with black heel patch from the table and place it on the mat",
+    "Pick the the medium-sized casual shoe off the table and position it on the mat",
+    "Grab the white and black combination shoe using the right arm and drop it on the mat",
+    "Use the right arm to pick the synthetic leather white shoe off the table and move it onto the mat",
+    "With the right arm, pick the shoe for everyday walking up from the table and put it on the mat",
+    "Lift the shoe for everyday walking and place it on the mat",
+    "Use the right arm to grab the the synthetic leather white shoe from the table and set it on the mat",
+    "Take the the shoe with black back detail off the table and put it on the mat",
+    "Move the shoe with lace-up front from the table to the mat in one fluid motion",
+    "Using the right arm, lift the white shoe with rounded toe from the table and place it onto the mat",
+    "Use the right arm to pick the medium-sized casual shoe and position it on the mat"
+  ],
+  "unseen": [
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode92.json b/place_shoe/demo_clean/instructions/episode92.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b863595ad693855655201a842dfa6d9783c92af
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode92.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the sports shoe green with beige sole from the table and set it on the mat",
+    "Lift the green upper white logo shoe using the left arm from the table and place it on the mat",
+    "Pick up the medium-sized green walking shoe with the left arm from the table and place it on the mat",
+    "Take the the shoe with beige sole from the table using the left arm and drop it on the mat",
+    "Grab the shoe with thick ribbed sole from the table and place it on the mat",
+    "Use the left arm to grab the white-laced green running shoe and transfer it to the mat",
+    "Move the shoe with beige sole from the table and place it down on the mat",
+    "Pick the white and green shoe up from the table and drop it directly on the mat",
+    "With the left arm, pick the white-laced green running shoe up from the table and put it on the mat",
+    "Lift the smooth green shoe with laces off the table using the left arm and drop it on the mat",
+    "With the left arm, grab the medium-sized green walking shoe from the table and place it on the mat",
+    "With the left arm, grab the smooth green shoe with laces off the table and place it onto the mat",
+    "Use the left arm to pick the shoe with beige sole off the table and move it onto the mat",
+    "Using the left arm, lift the smooth green shoe with laces from the table and place it onto the mat",
+    "Pick the the shoe with beige sole from the table and place it gently on the mat",
+    "Use the left arm to lift the footwear with padded heel from the table and set it on the mat",
+    "Move the shoe with thick ribbed sole from the table to the mat in one fluid motion",
+    "Transfer the smooth green shoe with laces from the table to the mat",
+    "Lift the green lace-up sneaker and place it on the mat",
+    "Take the shoe with synthetic fabric body and put it on the mat",
+    "Use the left arm to lift the the sports shoe green with beige sole from the table and set it on the mat",
+    "Use the left arm to pick the shoe with thick ribbed sole and position it on the mat",
+    "Take the smooth green shoe with laces from the table and position it on the mat",
+    "Take the medium-sized green walking shoe from the table and carefully drop it on the mat",
+    "Take the footwear with padded heel with the left arm and place it carefully on the mat",
+    "Pick the shoe with synthetic fabric body up from the table and put it on the mat",
+    "Retrieve the sports shoe green with beige sole from the table and set it on the mat",
+    "Take the shoe with thick ribbed sole from the table and place it on the mat",
+    "Pick the the white-laced green running shoe off the table and position it on the mat",
+    "Move the medium-sized green walking shoe from the table to the mat",
+    "Move the medium-sized green walking shoe from the table to the mat",
+    "Use the left arm to grab the the shoe with synthetic fabric body and put it on the mat",
+    "Lift the the medium-sized green walking shoe from the table using the left arm and place it on the mat",
+    "Using the left arm, grasp the rubber-soled green sneaker from the table and place it onto the mat",
+    "Pick up the sports shoe green with beige sole and move it to the mat",
+    "Lift the white-laced green running shoe from the table and place it carefully on the mat",
+    "Remove the white-laced green running shoe from the table and lay it on the mat",
+    "Use the left arm to grab the the green upper white logo shoe from the table and set it on the mat",
+    "Grab the footwear with padded heel using the left arm, move it from the table to the mat",
+    "Pick up the green upper white logo shoe with the left arm, move it from the table, and set it on the mat",
+    "Take the the green upper white logo shoe off the table and put it on the mat",
+    "Use the left arm to grab the white and green shoe from the table and move it to the mat",
+    "Lift the the white-laced green running shoe from the table and place it onto the mat",
+    "Grab the the shoe with synthetic fabric body on the table and move it to the mat",
+    "Lift the smooth green shoe with laces from the table and gently place it onto the mat",
+    "Grab the green upper white logo shoe from the table with the left arm and place it on the mat",
+    "Use the left arm to lift the shoe with synthetic fabric body from the table and set it on the mat",
+    "Use the left arm to pick up the shoe with beige sole from the table and drop it on the mat",
+    "Take the sports shoe green with beige sole from the table and put it on the mat",
+    "Grab the shoe with thick ribbed sole using the left arm and drop it on the mat",
+    "Pick up the rubber-soled green sneaker from the table and set it on the mat",
+    "Lift the footwear with padded heel using the left arm from the table and place it on the mat",
+    "Pick up the smooth green shoe with laces with the left arm from the table and place it on the mat",
+    "Take the the shoe with thick ribbed sole from the table using the left arm and drop it on the mat",
+    "Grab the white-laced green running shoe from the table and place it on the mat",
+    "Use the left arm to grab the smooth green shoe with laces and transfer it to the mat",
+    "Move the rubber-soled green sneaker from the table and place it down on the mat",
+    "Pick the white and green shoe up from the table and drop it directly on the mat",
+    "With the left arm, pick the shoe with beige sole up from the table and put it on the mat",
+    "Lift the sports shoe green with beige sole off the table using the left arm and drop it on the mat",
+    "With the left arm, grab the sports shoe green with beige sole from the table and place it on the mat",
+    "With the left arm, grab the smooth green shoe with laces off the table and place it onto the mat",
+    "Use the left arm to pick the footwear with padded heel off the table and move it onto the mat",
+    "Using the left arm, lift the green upper white logo shoe from the table and place it onto the mat",
+    "Pick the the shoe with beige sole from the table and place it gently on the mat",
+    "Use the left arm to lift the shoe with beige sole from the table and set it on the mat",
+    "Move the rubber-soled green sneaker from the table to the mat in one fluid motion",
+    "Transfer the shoe with thick ribbed sole from the table to the mat",
+    "Lift the sports shoe green with beige sole and place it on the mat",
+    "Take the white and green shoe and put it on the mat",
+    "Use the left arm to lift the the smooth green shoe with laces from the table and set it on the mat",
+    "Use the left arm to pick the medium-sized green walking shoe and position it on the mat",
+    "Take the footwear with padded heel from the table and position it on the mat",
+    "Take the white-laced green running shoe from the table and carefully drop it on the mat",
+    "Take the rubber-soled green sneaker with the left arm and place it carefully on the mat",
+    "Pick the footwear with padded heel up from the table and put it on the mat",
+    "Retrieve the shoe with synthetic fabric body from the table and set it on the mat",
+    "Take the sports shoe green with beige sole from the table and place it on the mat",
+    "Pick the the white and green shoe off the table and position it on the mat",
+    "Move the green upper white logo shoe from the table to the mat",
+    "Move the green lace-up sneaker from the table to the mat",
+    "Use the left arm to grab the the green upper white logo shoe and put it on the mat",
+    "Lift the the shoe with beige sole from the table using the left arm and place it on the mat",
+    "Using the left arm, grasp the green upper white logo shoe from the table and place it onto the mat",
+    "Pick up the shoe with synthetic fabric body and move it to the mat",
+    "Lift the shoe with synthetic fabric body from the table and place it carefully on the mat",
+    "Remove the white and green shoe from the table and lay it on the mat",
+    "Use the left arm to grab the the smooth green shoe with laces from the table and set it on the mat",
+    "Grab the sports shoe green with beige sole using the left arm, move it from the table to the mat",
+    "Pick up the shoe with thick ribbed sole with the left arm, move it from the table, and set it on the mat",
+    "Take the the rubber-soled green sneaker off the table and put it on the mat",
+    "Use the left arm to grab the rubber-soled green sneaker from the table and move it to the mat",
+    "Lift the the green upper white logo shoe from the table and place it onto the mat",
+    "Grab the the smooth green shoe with laces on the table and move it to the mat",
+    "Lift the rubber-soled green sneaker from the table and gently place it onto the mat",
+    "Grab the sports shoe green with beige sole from the table with the left arm and place it on the mat",
+    "Use the left arm to lift the shoe with thick ribbed sole from the table and set it on the mat",
+    "Use the left arm to pick up the rubber-soled green sneaker from the table and drop it on the mat",
+    "Take the shoe with synthetic fabric body from the table and put it on the mat",
+    "Grab the shoe with synthetic fabric body using the left arm and drop it on the mat"
+  ],
+  "unseen": [
+    "Grab the green shoe and set it on the mat",
+    "Grab the running shoe with laces from the table and place it on the mat",
+    "Pick up the beige-soled walking sneaker from the table and set it on the mat",
+    "Use the left arm to lift the green shoe and drop it on the mat",
+    "Pick up the the running shoe with laces from the table and place it on the mat",
+    "Pick up the green shoe from the table and set it on the mat",
+    "Use the left arm to grab the beige-soled walking sneaker from the table and place it on the mat",
+    "Grab the running shoe with laces off the table and drop it on the mat",
+    "Pick up the beige-soled walking sneaker from the table and set it down on the mat",
+    "Grab the the running shoe with laces from the table and set it on the mat",
+    "Grab the beige-soled walking sneaker and set it on the mat",
+    "Grab the running shoe with laces from the table and place it on the mat",
+    "Pick up the green shoe from the table and set it on the mat",
+    "Use the left arm to lift the beige-soled walking sneaker and drop it on the mat",
+    "Pick up the the running shoe with laces from the table and place it on the mat",
+    "Pick up the green shoe from the table and set it on the mat",
+    "Use the left arm to grab the green shoe from the table and place it on the mat",
+    "Grab the beige-soled walking sneaker off the table and drop it on the mat",
+    "Pick up the beige-soled walking sneaker from the table and set it down on the mat",
+    "Grab the the beige-soled walking sneaker from the table and set it on the mat",
+    "Grab the green shoe and set it on the mat",
+    "Grab the beige-soled walking sneaker from the table and place it on the mat",
+    "Pick up the running shoe with laces from the table and set it on the mat",
+    "Use the left arm to lift the beige-soled walking sneaker and drop it on the mat",
+    "Pick up the the beige-soled walking sneaker from the table and place it on the mat",
+    "Pick up the running shoe with laces from the table and set it on the mat",
+    "Use the left arm to grab the running shoe with laces from the table and place it on the mat",
+    "Grab the green shoe off the table and drop it on the mat",
+    "Pick up the running shoe with laces from the table and set it down on the mat",
+    "Grab the the running shoe with laces from the table and set it on the mat",
+    "Grab the beige-soled walking sneaker and set it on the mat",
+    "Grab the running shoe with laces from the table and place it on the mat",
+    "Pick up the green shoe from the table and set it on the mat",
+    "Use the left arm to lift the running shoe with laces and drop it on the mat",
+    "Pick up the the beige-soled walking sneaker from the table and place it on the mat",
+    "Pick up the beige-soled walking sneaker from the table and set it on the mat",
+    "Use the left arm to grab the running shoe with laces from the table and place it on the mat",
+    "Grab the green shoe off the table and drop it on the mat",
+    "Pick up the running shoe with laces from the table and set it down on the mat",
+    "Grab the the running shoe with laces from the table and set it on the mat",
+    "Grab the green shoe and set it on the mat",
+    "Grab the green shoe from the table and place it on the mat",
+    "Pick up the green shoe from the table and set it on the mat",
+    "Use the left arm to lift the green shoe and drop it on the mat",
+    "Pick up the the beige-soled walking sneaker from the table and place it on the mat",
+    "Pick up the running shoe with laces from the table and set it on the mat",
+    "Use the left arm to grab the green shoe from the table and place it on the mat",
+    "Grab the beige-soled walking sneaker off the table and drop it on the mat",
+    "Pick up the beige-soled walking sneaker from the table and set it down on the mat",
+    "Grab the the running shoe with laces from the table and set it on the mat",
+    "Grab the running shoe with laces and set it on the mat",
+    "Grab the beige-soled walking sneaker from the table and place it on the mat",
+    "Pick up the green shoe from the table and set it on the mat",
+    "Use the left arm to lift the beige-soled walking sneaker and drop it on the mat",
+    "Pick up the the green shoe from the table and place it on the mat",
+    "Pick up the running shoe with laces from the table and set it on the mat",
+    "Use the left arm to grab the running shoe with laces from the table and place it on the mat",
+    "Grab the green shoe off the table and drop it on the mat",
+    "Pick up the green shoe from the table and set it down on the mat",
+    "Grab the the beige-soled walking sneaker from the table and set it on the mat",
+    "Grab the running shoe with laces and set it on the mat",
+    "Grab the green shoe from the table and place it on the mat",
+    "Pick up the green shoe from the table and set it on the mat",
+    "Use the left arm to lift the running shoe with laces and drop it on the mat",
+    "Pick up the the beige-soled walking sneaker from the table and place it on the mat",
+    "Pick up the green shoe from the table and set it on the mat",
+    "Use the left arm to grab the running shoe with laces from the table and place it on the mat",
+    "Grab the running shoe with laces off the table and drop it on the mat",
+    "Pick up the running shoe with laces from the table and set it down on the mat",
+    "Grab the the green shoe from the table and set it on the mat",
+    "Grab the running shoe with laces and set it on the mat",
+    "Grab the green shoe from the table and place it on the mat",
+    "Pick up the running shoe with laces from the table and set it on the mat",
+    "Use the left arm to lift the beige-soled walking sneaker and drop it on the mat",
+    "Pick up the the running shoe with laces from the table and place it on the mat",
+    "Pick up the beige-soled walking sneaker from the table and set it on the mat",
+    "Use the left arm to grab the beige-soled walking sneaker from the table and place it on the mat",
+    "Grab the beige-soled walking sneaker off the table and drop it on the mat",
+    "Pick up the beige-soled walking sneaker from the table and set it down on the mat",
+    "Grab the the green shoe from the table and set it on the mat",
+    "Grab the running shoe with laces and set it on the mat",
+    "Grab the running shoe with laces from the table and place it on the mat",
+    "Pick up the running shoe with laces from the table and set it on the mat",
+    "Use the left arm to lift the green shoe and drop it on the mat",
+    "Pick up the the beige-soled walking sneaker from the table and place it on the mat",
+    "Pick up the green shoe from the table and set it on the mat",
+    "Use the left arm to grab the beige-soled walking sneaker from the table and place it on the mat",
+    "Grab the beige-soled walking sneaker off the table and drop it on the mat",
+    "Pick up the running shoe with laces from the table and set it down on the mat",
+    "Grab the the green shoe from the table and set it on the mat",
+    "Grab the green shoe and set it on the mat",
+    "Grab the green shoe from the table and place it on the mat",
+    "Pick up the running shoe with laces from the table and set it on the mat",
+    "Use the left arm to lift the green shoe and drop it on the mat",
+    "Pick up the the running shoe with laces from the table and place it on the mat",
+    "Pick up the green shoe from the table and set it on the mat",
+    "Use the left arm to grab the green shoe from the table and place it on the mat",
+    "Grab the green shoe off the table and drop it on the mat",
+    "Pick up the running shoe with laces from the table and set it down on the mat",
+    "Grab the the beige-soled walking sneaker from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode93.json b/place_shoe/demo_clean/instructions/episode93.json
new file mode 100644
index 0000000000000000000000000000000000000000..10c82ebda699208b6764d6e12d0a0d8d2a4ca61a
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode93.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the the canvas shoe with grooved sole and put it on the mat",
+    "Pick up the white sneaker with red accents with the right arm, move it from the table, and set it on the mat",
+    "Use the right arm to grab the white shoe with red tag from the table and move it to the mat",
+    "Use the right arm to grab the shoe with flat rubber sole and transfer it to the mat",
+    "Use the right arm to pick the lace-up sneaker and position it on the mat",
+    "Lift the the classic sneaker design shoe from the table and place it onto the mat",
+    "Lift the the comfortable white and red shoe from the table using the right arm and place it on the mat",
+    "Use the right arm to grab the the comfortable white and red shoe from the table and set it on the mat",
+    "Lift the lace-up canvas shoe using the right arm from the table and place it on the mat",
+    "Grab the white shoe with red tag from the table and place it on the mat",
+    "Take the medium-sized adult shoe from the table and position it on the mat",
+    "Use the right arm to lift the the rounded front shoe from the table and set it on the mat",
+    "Pick the the white shoe with red tag from the table and place it gently on the mat",
+    "Remove the white sneaker with red accents from the table and lay it on the mat",
+    "With the right arm, pick the comfortable white and red shoe up from the table and put it on the mat",
+    "Use the right arm to pick up the rubber sole shoe from the table and drop it on the mat",
+    "Take the canvas shoe with grooved sole and put it on the mat",
+    "With the right arm, grab the classic sneaker design shoe from the table and place it on the mat",
+    "Grab the comfortable white and red shoe from the table with the right arm and place it on the mat",
+    "Lift the medium-sized adult shoe from the table and gently place it onto the mat",
+    "Move the lace-up sneaker from the table to the mat",
+    "Take the the rubber sole shoe off the table and put it on the mat",
+    "Grab the the canvas shoe with grooved sole on the table and move it to the mat",
+    "Transfer the rounded front shoe from the table to the mat",
+    "Take the white shoe with flat sole from the table and place it on the mat",
+    "Use the right arm to pick the rubber sole shoe off the table and move it onto the mat",
+    "Lift the medium-sized adult shoe and place it on the mat",
+    "Pick up the white sneaker with red accents from the table and set it on the mat",
+    "Retrieve the lace-up canvas shoe from the table and set it on the mat",
+    "Pick the white shoe with red tag up from the table and drop it directly on the mat",
+    "Using the right arm, lift the lace-up sneaker from the table and place it onto the mat",
+    "Use the right arm to lift the white shoe with flat sole from the table and set it on the mat",
+    "Take the white sneaker with red accents with the right arm and place it carefully on the mat",
+    "Move the canvas shoe with grooved sole from the table to the mat in one fluid motion",
+    "With the right arm, grab the medium-sized adult shoe off the table and place it onto the mat",
+    "Take the the lace-up canvas shoe from the table using the right arm and drop it on the mat",
+    "Using the right arm, grasp the classic sneaker design shoe from the table and place it onto the mat",
+    "Move the classic sneaker design shoe from the table and place it down on the mat",
+    "Grab the medium-sized adult shoe using the right arm, move it from the table to the mat",
+    "Grab the lace-up sneaker using the right arm and drop it on the mat",
+    "Move the canvas shoe with grooved sole from the table to the mat",
+    "Take the lace-up canvas shoe from the table and put it on the mat",
+    "Lift the lace-up sneaker from the table and place it carefully on the mat",
+    "Pick the classic sneaker design shoe up from the table and put it on the mat",
+    "Lift the rounded front shoe off the table using the right arm and drop it on the mat",
+    "Take the lace-up sneaker from the table and carefully drop it on the mat",
+    "Use the right arm to lift the rounded front shoe from the table and set it on the mat",
+    "Pick the the white shoe with red tag off the table and position it on the mat",
+    "Pick up the rubber sole shoe with the right arm from the table and place it on the mat",
+    "Pick up the lace-up sneaker and move it to the mat",
+    "Use the right arm to grab the the shoe with flat rubber sole and put it on the mat",
+    "Pick up the rounded front shoe with the right arm, move it from the table, and set it on the mat",
+    "Use the right arm to grab the shoe with flat rubber sole from the table and move it to the mat",
+    "Use the right arm to grab the lace-up canvas shoe and transfer it to the mat",
+    "Use the right arm to pick the white shoe with flat sole and position it on the mat",
+    "Lift the the rubber sole shoe from the table and place it onto the mat",
+    "Lift the the comfortable white and red shoe from the table using the right arm and place it on the mat",
+    "Use the right arm to grab the the lace-up canvas shoe from the table and set it on the mat",
+    "Lift the lace-up sneaker using the right arm from the table and place it on the mat",
+    "Grab the comfortable white and red shoe from the table and place it on the mat",
+    "Take the comfortable white and red shoe from the table and position it on the mat",
+    "Use the right arm to lift the the shoe with flat rubber sole from the table and set it on the mat",
+    "Pick the the white sneaker with red accents from the table and place it gently on the mat",
+    "Remove the rubber sole shoe from the table and lay it on the mat",
+    "With the right arm, pick the lace-up canvas shoe up from the table and put it on the mat",
+    "Use the right arm to pick up the rubber sole shoe from the table and drop it on the mat",
+    "Take the rounded front shoe and put it on the mat",
+    "With the right arm, grab the white shoe with flat sole from the table and place it on the mat",
+    "Grab the comfortable white and red shoe from the table with the right arm and place it on the mat",
+    "Lift the medium-sized adult shoe from the table and gently place it onto the mat",
+    "Move the classic sneaker design shoe from the table to the mat",
+    "Take the the white sneaker with red accents off the table and put it on the mat",
+    "Grab the the canvas shoe with grooved sole on the table and move it to the mat",
+    "Transfer the lace-up sneaker from the table to the mat",
+    "Take the comfortable white and red shoe from the table and place it on the mat",
+    "Use the right arm to pick the medium-sized adult shoe off the table and move it onto the mat",
+    "Lift the white shoe with red tag and place it on the mat",
+    "Pick up the rounded front shoe from the table and set it on the mat",
+    "Retrieve the medium-sized adult shoe from the table and set it on the mat",
+    "Pick the canvas shoe with grooved sole up from the table and drop it directly on the mat",
+    "Using the right arm, lift the classic sneaker design shoe from the table and place it onto the mat",
+    "Use the right arm to lift the comfortable white and red shoe from the table and set it on the mat",
+    "Take the rounded front shoe with the right arm and place it carefully on the mat",
+    "Move the white shoe with flat sole from the table to the mat in one fluid motion",
+    "With the right arm, grab the lace-up sneaker off the table and place it onto the mat",
+    "Take the the white shoe with red tag from the table using the right arm and drop it on the mat",
+    "Using the right arm, grasp the white sneaker with red accents from the table and place it onto the mat",
+    "Move the canvas shoe with grooved sole from the table and place it down on the mat",
+    "Grab the canvas shoe with grooved sole using the right arm, move it from the table to the mat",
+    "Grab the white shoe with flat sole using the right arm and drop it on the mat",
+    "Move the medium-sized adult shoe from the table to the mat",
+    "Take the rubber sole shoe from the table and put it on the mat",
+    "Lift the canvas shoe with grooved sole from the table and place it carefully on the mat",
+    "Pick the comfortable white and red shoe up from the table and put it on the mat",
+    "Lift the classic sneaker design shoe off the table using the right arm and drop it on the mat",
+    "Take the lace-up sneaker from the table and carefully drop it on the mat",
+    "Use the right arm to lift the medium-sized adult shoe from the table and set it on the mat",
+    "Pick the the white shoe with red tag off the table and position it on the mat",
+    "Pick up the white shoe with flat sole with the right arm from the table and place it on the mat",
+    "Pick up the shoe with flat rubber sole and move it to the mat"
+  ],
+  "unseen": [
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Use the right arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Use the right arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to grab the walking shoe with grip sole from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Use the right arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Use the right arm to lift the white shoe with tongue logo and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Grab the the white shoe with tongue logo from the table and set it on the mat",
+    "Use the right arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the walking shoe with grip sole from the table and place it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Pick up the the shoe with adjustable laces from the table and place it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it down on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the shoe with adjustable laces off the table and drop it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Use the right arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the right arm to lift the walking shoe with grip sole and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Pick up the the white shoe with tongue logo from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it on the mat",
+    "Grab the shoe with adjustable laces and set it on the mat",
+    "Grab the the shoe with adjustable laces from the table and set it on the mat",
+    "Use the right arm to grab the white shoe with tongue logo from the table and place it on the mat",
+    "Pick up the walking shoe with grip sole from the table and set it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it down on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the walking shoe with grip sole off the table and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the white shoe with tongue logo and set it on the mat",
+    "Grab the the walking shoe with grip sole from the table and set it on the mat",
+    "Use the right arm to grab the shoe with adjustable laces from the table and place it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the shoe with adjustable laces from the table and place it on the mat",
+    "Use the right arm to lift the shoe with adjustable laces and drop it on the mat",
+    "Pick up the shoe with adjustable laces from the table and set it down on the mat",
+    "Pick up the the walking shoe with grip sole from the table and place it on the mat",
+    "Grab the white shoe with tongue logo off the table and drop it on the mat",
+    "Pick up the white shoe with tongue logo from the table and set it on the mat",
+    "Grab the walking shoe with grip sole and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode94.json b/place_shoe/demo_clean/instructions/episode94.json
new file mode 100644
index 0000000000000000000000000000000000000000..c57d16c1353e7ea9f1585c7f3022afcf5df04e0b
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode94.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the shoe for walking from the table and set it on the mat",
+    "Grab the shoe with lace holes using the left arm, move it from the table to the mat",
+    "Use the left arm to lift the shoe with patterned bottom from the table and set it on the mat",
+    "Using the left arm, lift the white shoe with rubber sole from the table and place it onto the mat",
+    "Lift the the white sneaker shoe from the table and place it onto the mat",
+    "Using the left arm, grasp the shoe with patterned bottom from the table and place it onto the mat",
+    "Pick up the synthetic leather shoe and move it to the mat",
+    "Move the synthetic leather shoe from the table to the mat",
+    "Take the shoe with curved sole and put it on the mat",
+    "Move the synthetic leather shoe from the table and place it down on the mat",
+    "Take the the white sneaker shoe from the table using the left arm and drop it on the mat",
+    "With the left arm, grab the shoe with textured sole off the table and place it onto the mat",
+    "Lift the shoe with curved sole from the table and gently place it onto the mat",
+    "Move the medium-sized rounded white shoe from the table to the mat",
+    "Lift the shoe with curved sole using the left arm from the table and place it on the mat",
+    "Lift the shoe for walking and place it on the mat",
+    "Pick the the shoe with patterned bottom from the table and place it gently on the mat",
+    "Take the smooth white shoe from the table and place it on the mat",
+    "Take the the shoe for walking off the table and put it on the mat",
+    "Grab the medium white shoe using the left arm and drop it on the mat",
+    "Grab the shoe with lace holes from the table and place it on the mat",
+    "Take the shoe with patterned bottom from the table and carefully drop it on the mat",
+    "Take the medium white shoe from the table and position it on the mat",
+    "Pick the the smooth white shoe off the table and position it on the mat",
+    "With the left arm, grab the white shoe with rubber sole from the table and place it on the mat",
+    "Pick up the synthetic leather shoe with the left arm from the table and place it on the mat",
+    "Use the left arm to pick up the medium white shoe from the table and drop it on the mat",
+    "Pick up the shoe for walking with the left arm, move it from the table, and set it on the mat",
+    "Take the white shoe with rubber sole from the table and put it on the mat",
+    "Pick the shoe with patterned bottom up from the table and drop it directly on the mat",
+    "Lift the the shoe with lace holes from the table using the left arm and place it on the mat",
+    "Take the white sneaker shoe with the left arm and place it carefully on the mat",
+    "Lift the white sneaker shoe from the table and place it carefully on the mat",
+    "Grab the the shoe with curved sole on the table and move it to the mat",
+    "Use the left arm to grab the the shoe with textured sole from the table and set it on the mat",
+    "Use the left arm to pick the shoe with patterned bottom off the table and move it onto the mat",
+    "Transfer the shoe with curved sole from the table to the mat",
+    "Grab the white sneaker shoe from the table with the left arm and place it on the mat",
+    "Use the left arm to lift the synthetic leather shoe from the table and set it on the mat",
+    "Move the white sneaker shoe from the table to the mat in one fluid motion",
+    "Pick the shoe for walking up from the table and put it on the mat",
+    "Retrieve the shoe for walking from the table and set it on the mat",
+    "Use the left arm to grab the white shoe with rubber sole and transfer it to the mat",
+    "Lift the medium-sized rounded white shoe off the table using the left arm and drop it on the mat",
+    "Remove the white sneaker shoe from the table and lay it on the mat",
+    "Use the left arm to pick the synthetic leather shoe and position it on the mat",
+    "Use the left arm to lift the the shoe for walking from the table and set it on the mat",
+    "With the left arm, pick the white sneaker shoe up from the table and put it on the mat",
+    "Use the left arm to grab the the medium-sized rounded white shoe and put it on the mat",
+    "Use the left arm to grab the shoe with patterned bottom from the table and move it to the mat",
+    "Pick up the synthetic leather shoe from the table and set it on the mat",
+    "Grab the rubber sole shoe using the left arm, move it from the table to the mat",
+    "Use the left arm to lift the smooth white shoe from the table and set it on the mat",
+    "Using the left arm, lift the shoe with textured sole from the table and place it onto the mat",
+    "Lift the the smooth white shoe from the table and place it onto the mat",
+    "Using the left arm, grasp the synthetic leather shoe from the table and place it onto the mat",
+    "Pick up the rubber sole shoe and move it to the mat",
+    "Move the white shoe with rubber sole from the table to the mat",
+    "Take the white sneaker shoe and put it on the mat",
+    "Move the white sneaker shoe from the table and place it down on the mat",
+    "Take the the rubber sole shoe from the table using the left arm and drop it on the mat",
+    "With the left arm, grab the medium-sized rounded white shoe off the table and place it onto the mat",
+    "Lift the shoe with lace holes from the table and gently place it onto the mat",
+    "Move the shoe for walking from the table to the mat",
+    "Lift the white shoe with rubber sole using the left arm from the table and place it on the mat",
+    "Lift the white sneaker shoe and place it on the mat",
+    "Pick the the shoe with textured sole from the table and place it gently on the mat",
+    "Take the white shoe with rubber sole from the table and place it on the mat",
+    "Take the the white sneaker shoe off the table and put it on the mat",
+    "Grab the shoe with lace holes using the left arm and drop it on the mat",
+    "Grab the white sneaker shoe from the table and place it on the mat",
+    "Take the white sneaker shoe from the table and carefully drop it on the mat",
+    "Take the medium-sized rounded white shoe from the table and position it on the mat",
+    "Pick the the rubber sole shoe off the table and position it on the mat",
+    "With the left arm, grab the rubber sole shoe from the table and place it on the mat",
+    "Pick up the shoe with patterned bottom with the left arm from the table and place it on the mat",
+    "Use the left arm to pick up the medium white shoe from the table and drop it on the mat",
+    "Pick up the medium white shoe with the left arm, move it from the table, and set it on the mat",
+    "Take the shoe with curved sole from the table and put it on the mat",
+    "Pick the white shoe with rubber sole up from the table and drop it directly on the mat",
+    "Lift the the medium white shoe from the table using the left arm and place it on the mat",
+    "Take the medium white shoe with the left arm and place it carefully on the mat",
+    "Lift the shoe with textured sole from the table and place it carefully on the mat",
+    "Grab the the medium white shoe on the table and move it to the mat",
+    "Use the left arm to grab the the synthetic leather shoe from the table and set it on the mat",
+    "Use the left arm to pick the shoe with patterned bottom off the table and move it onto the mat",
+    "Transfer the shoe with lace holes from the table to the mat",
+    "Grab the shoe with curved sole from the table with the left arm and place it on the mat",
+    "Use the left arm to lift the smooth white shoe from the table and set it on the mat",
+    "Move the shoe with lace holes from the table to the mat in one fluid motion",
+    "Pick the shoe with lace holes up from the table and put it on the mat",
+    "Retrieve the white shoe with rubber sole from the table and set it on the mat",
+    "Use the left arm to grab the shoe with patterned bottom and transfer it to the mat",
+    "Lift the shoe with textured sole off the table using the left arm and drop it on the mat",
+    "Remove the shoe with lace holes from the table and lay it on the mat",
+    "Use the left arm to pick the white sneaker shoe and position it on the mat",
+    "Use the left arm to lift the the medium-sized rounded white shoe from the table and set it on the mat",
+    "With the left arm, pick the synthetic leather shoe up from the table and put it on the mat",
+    "Use the left arm to grab the the medium-sized rounded white shoe and put it on the mat",
+    "Use the left arm to grab the shoe with curved sole from the table and move it to the mat"
+  ],
+  "unseen": [
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode95.json b/place_shoe/demo_clean/instructions/episode95.json
new file mode 100644
index 0000000000000000000000000000000000000000..79116bc6f14d4c7e8cc80ceb875b727a1b4c32e0
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode95.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the the medium-sized rounded white shoe off the table and position it on the mat",
+    "Lift the shoe with patterned bottom off the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the smooth white shoe and transfer it to the mat",
+    "Use the right arm to grab the the shoe with lace holes and put it on the mat",
+    "Take the shoe with lace holes from the table and carefully drop it on the mat",
+    "Lift the shoe for walking from the table and gently place it onto the mat",
+    "Lift the shoe for walking and place it on the mat",
+    "Lift the the shoe with textured sole from the table and place it onto the mat",
+    "Pick the medium-sized rounded white shoe up from the table and drop it directly on the mat",
+    "Take the the shoe with textured sole off the table and put it on the mat",
+    "Grab the white shoe with rubber sole from the table and place it on the mat",
+    "With the right arm, pick the medium white shoe up from the table and put it on the mat",
+    "Retrieve the shoe with curved sole from the table and set it on the mat",
+    "Use the right arm to lift the shoe with lace holes from the table and set it on the mat",
+    "Pick up the smooth white shoe with the right arm, move it from the table, and set it on the mat",
+    "Pick the shoe with patterned bottom up from the table and put it on the mat",
+    "Use the right arm to pick the smooth white shoe and position it on the mat",
+    "Use the right arm to grab the the shoe with lace holes from the table and set it on the mat",
+    "Use the right arm to grab the rubber sole shoe from the table and move it to the mat",
+    "Lift the the shoe with textured sole from the table using the right arm and place it on the mat",
+    "Take the white shoe with rubber sole with the right arm and place it carefully on the mat",
+    "With the right arm, grab the shoe for walking from the table and place it on the mat",
+    "Take the the white shoe with rubber sole from the table using the right arm and drop it on the mat",
+    "Grab the shoe with curved sole using the right arm, move it from the table to the mat",
+    "Use the right arm to lift the the rubber sole shoe from the table and set it on the mat",
+    "Grab the medium white shoe using the right arm and drop it on the mat",
+    "Take the shoe with lace holes from the table and put it on the mat",
+    "Pick the the shoe for walking from the table and place it gently on the mat",
+    "Take the shoe with textured sole from the table and position it on the mat",
+    "Move the white shoe with rubber sole from the table to the mat",
+    "With the right arm, grab the synthetic leather shoe off the table and place it onto the mat",
+    "Grab the medium-sized rounded white shoe from the table with the right arm and place it on the mat",
+    "Take the shoe with patterned bottom from the table and place it on the mat",
+    "Using the right arm, lift the medium white shoe from the table and place it onto the mat",
+    "Lift the medium-sized rounded white shoe from the table and place it carefully on the mat",
+    "Move the rubber sole shoe from the table to the mat",
+    "Use the right arm to pick up the medium white shoe from the table and drop it on the mat",
+    "Pick up the shoe with patterned bottom from the table and set it on the mat",
+    "Using the right arm, grasp the rubber sole shoe from the table and place it onto the mat",
+    "Pick up the shoe with textured sole with the right arm from the table and place it on the mat",
+    "Remove the medium-sized rounded white shoe from the table and lay it on the mat",
+    "Move the rubber sole shoe from the table and place it down on the mat",
+    "Use the right arm to lift the white sneaker shoe from the table and set it on the mat",
+    "Move the shoe with textured sole from the table to the mat in one fluid motion",
+    "Pick up the synthetic leather shoe and move it to the mat",
+    "Take the shoe with patterned bottom and put it on the mat",
+    "Lift the medium white shoe using the right arm from the table and place it on the mat",
+    "Grab the the smooth white shoe on the table and move it to the mat",
+    "Transfer the medium-sized rounded white shoe from the table to the mat",
+    "Use the right arm to pick the synthetic leather shoe off the table and move it onto the mat",
+    "Pick the the rubber sole shoe off the table and position it on the mat",
+    "Lift the rubber sole shoe off the table using the right arm and drop it on the mat",
+    "Use the right arm to grab the shoe with curved sole and transfer it to the mat",
+    "Use the right arm to grab the the smooth white shoe and put it on the mat",
+    "Take the medium white shoe from the table and carefully drop it on the mat",
+    "Lift the smooth white shoe from the table and gently place it onto the mat",
+    "Lift the white shoe with rubber sole and place it on the mat",
+    "Lift the the white shoe with rubber sole from the table and place it onto the mat",
+    "Pick the synthetic leather shoe up from the table and drop it directly on the mat",
+    "Take the the white shoe with rubber sole off the table and put it on the mat",
+    "Grab the shoe with textured sole from the table and place it on the mat",
+    "With the right arm, pick the rubber sole shoe up from the table and put it on the mat",
+    "Retrieve the shoe for walking from the table and set it on the mat",
+    "Use the right arm to lift the white sneaker shoe from the table and set it on the mat",
+    "Pick up the white sneaker shoe with the right arm, move it from the table, and set it on the mat",
+    "Pick the synthetic leather shoe up from the table and put it on the mat",
+    "Use the right arm to pick the shoe with lace holes and position it on the mat",
+    "Use the right arm to grab the the shoe with lace holes from the table and set it on the mat",
+    "Use the right arm to grab the medium-sized rounded white shoe from the table and move it to the mat",
+    "Lift the the shoe with textured sole from the table using the right arm and place it on the mat",
+    "Take the smooth white shoe with the right arm and place it carefully on the mat",
+    "With the right arm, grab the synthetic leather shoe from the table and place it on the mat",
+    "Take the the white shoe with rubber sole from the table using the right arm and drop it on the mat",
+    "Grab the shoe for walking using the right arm, move it from the table to the mat",
+    "Use the right arm to lift the the shoe for walking from the table and set it on the mat",
+    "Grab the medium white shoe using the right arm and drop it on the mat",
+    "Take the rubber sole shoe from the table and put it on the mat",
+    "Pick the the white sneaker shoe from the table and place it gently on the mat",
+    "Take the smooth white shoe from the table and position it on the mat",
+    "Move the shoe with curved sole from the table to the mat",
+    "With the right arm, grab the white shoe with rubber sole off the table and place it onto the mat",
+    "Grab the shoe with lace holes from the table with the right arm and place it on the mat",
+    "Take the medium white shoe from the table and place it on the mat",
+    "Using the right arm, lift the shoe for walking from the table and place it onto the mat",
+    "Lift the white shoe with rubber sole from the table and place it carefully on the mat",
+    "Move the shoe with curved sole from the table to the mat",
+    "Use the right arm to pick up the shoe for walking from the table and drop it on the mat",
+    "Pick up the smooth white shoe from the table and set it on the mat",
+    "Using the right arm, grasp the smooth white shoe from the table and place it onto the mat",
+    "Pick up the rubber sole shoe with the right arm from the table and place it on the mat",
+    "Remove the white shoe with rubber sole from the table and lay it on the mat",
+    "Move the rubber sole shoe from the table and place it down on the mat",
+    "Use the right arm to lift the smooth white shoe from the table and set it on the mat",
+    "Move the medium-sized rounded white shoe from the table to the mat in one fluid motion",
+    "Pick up the shoe with textured sole and move it to the mat",
+    "Take the white shoe with rubber sole and put it on the mat",
+    "Lift the shoe with patterned bottom using the right arm from the table and place it on the mat",
+    "Grab the the shoe for walking on the table and move it to the mat",
+    "Transfer the shoe with textured sole from the table to the mat",
+    "Use the right arm to pick the medium white shoe off the table and move it onto the mat"
+  ],
+  "unseen": [
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the right arm to grab the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Use the right arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Use the right arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Use the right arm to grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Use the right arm to grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Use the right arm to lift the white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode96.json b/place_shoe/demo_clean/instructions/episode96.json
new file mode 100644
index 0000000000000000000000000000000000000000..cea22575f98a84a9ee67a51831dbb3142527a0f6
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode96.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the smooth-textured red shoe from the table and put it on the mat",
+    "Move the sports shoe from the table and place it down on the mat",
+    "Use the left arm to lift the single red shoe from the table and set it on the mat",
+    "Grab the the lace-up red sports shoe on the table and move it to the mat",
+    "Lift the the sports shoe from the table and place it onto the mat",
+    "Using the left arm, grasp the grooved sole red shoe from the table and place it onto the mat",
+    "Take the red sneaker with the left arm and place it carefully on the mat",
+    "Lift the red sneaker from the table and gently place it onto the mat",
+    "Use the left arm to grab the the smooth-textured red shoe and put it on the mat",
+    "Use the left arm to grab the red shoe with white sole and transfer it to the mat",
+    "Lift the the footwear with red top white sole from the table using the left arm and place it on the mat",
+    "Use the left arm to pick the red shoe with white sole and position it on the mat",
+    "Pick up the footwear with red top white sole and move it to the mat",
+    "Take the shoe with flat rubber sole from the table and carefully drop it on the mat",
+    "Pick the the red sneaker off the table and position it on the mat",
+    "Use the left arm to lift the the lace-up red sports shoe from the table and set it on the mat",
+    "Pick the medium red shoe up from the table and drop it directly on the mat",
+    "Pick the the smooth-textured red shoe from the table and place it gently on the mat",
+    "Take the sports shoe from the table and position it on the mat",
+    "Take the the footwear with red top white sole off the table and put it on the mat",
+    "Take the the white bottom sports shoe from the table using the left arm and drop it on the mat",
+    "Transfer the smooth-textured red shoe from the table to the mat",
+    "With the left arm, pick the lace-up red sports shoe up from the table and put it on the mat",
+    "Take the sports shoe and put it on the mat",
+    "Remove the smooth-textured red shoe from the table and lay it on the mat",
+    "Using the left arm, lift the single red shoe from the table and place it onto the mat",
+    "Pick up the shoe with flat rubber sole with the left arm from the table and place it on the mat",
+    "Use the left arm to pick up the smooth-textured red shoe from the table and drop it on the mat",
+    "Grab the white bottom sports shoe using the left arm, move it from the table to the mat",
+    "Retrieve the smooth-textured red shoe from the table and set it on the mat",
+    "Grab the red sneaker using the left arm and drop it on the mat",
+    "Lift the sports shoe and place it on the mat",
+    "Use the left arm to grab the the medium red shoe from the table and set it on the mat",
+    "Pick the medium red shoe up from the table and put it on the mat",
+    "Pick up the medium red shoe from the table and set it on the mat",
+    "Lift the footwear with red top white sole from the table and place it carefully on the mat",
+    "Move the grooved sole red shoe from the table to the mat",
+    "Move the red sneaker from the table to the mat in one fluid motion",
+    "Use the left arm to lift the footwear with red top white sole from the table and set it on the mat",
+    "Grab the grooved sole red shoe from the table with the left arm and place it on the mat",
+    "Take the footwear with red top white sole from the table and place it on the mat",
+    "Move the white bottom sports shoe from the table to the mat",
+    "Grab the single red shoe from the table and place it on the mat",
+    "Lift the red shoe with white sole using the left arm from the table and place it on the mat",
+    "Use the left arm to pick the medium red shoe off the table and move it onto the mat",
+    "Lift the lace-up red sports shoe off the table using the left arm and drop it on the mat",
+    "Use the left arm to grab the shoe with flat rubber sole from the table and move it to the mat",
+    "With the left arm, grab the single red shoe off the table and place it onto the mat",
+    "With the left arm, grab the single red shoe from the table and place it on the mat",
+    "Pick up the shoe with flat rubber sole with the left arm, move it from the table, and set it on the mat",
+    "Take the shoe with flat rubber sole from the table and put it on the mat",
+    "Move the lace-up red sports shoe from the table and place it down on the mat",
+    "Use the left arm to lift the white bottom sports shoe from the table and set it on the mat",
+    "Grab the the red sneaker on the table and move it to the mat",
+    "Lift the the footwear with red top white sole from the table and place it onto the mat",
+    "Using the left arm, grasp the smooth-textured red shoe from the table and place it onto the mat",
+    "Take the red shoe rounded at front with the left arm and place it carefully on the mat",
+    "Lift the red shoe with white sole from the table and gently place it onto the mat",
+    "Use the left arm to grab the the red sneaker and put it on the mat",
+    "Use the left arm to grab the medium red shoe and transfer it to the mat",
+    "Lift the the white bottom sports shoe from the table using the left arm and place it on the mat",
+    "Use the left arm to pick the white bottom sports shoe and position it on the mat",
+    "Pick up the shoe with flat rubber sole and move it to the mat",
+    "Take the sports shoe from the table and carefully drop it on the mat",
+    "Pick the the lace-up red sports shoe off the table and position it on the mat",
+    "Use the left arm to lift the the grooved sole red shoe from the table and set it on the mat",
+    "Pick the red shoe rounded at front up from the table and drop it directly on the mat",
+    "Pick the the grooved sole red shoe from the table and place it gently on the mat",
+    "Take the sports shoe from the table and position it on the mat",
+    "Take the the shoe with flat rubber sole off the table and put it on the mat",
+    "Take the the red sneaker from the table using the left arm and drop it on the mat",
+    "Transfer the smooth-textured red shoe from the table to the mat",
+    "With the left arm, pick the lace-up red sports shoe up from the table and put it on the mat",
+    "Take the red shoe rounded at front and put it on the mat",
+    "Remove the smooth-textured red shoe from the table and lay it on the mat",
+    "Using the left arm, lift the medium red shoe from the table and place it onto the mat",
+    "Pick up the single red shoe with the left arm from the table and place it on the mat",
+    "Use the left arm to pick up the grooved sole red shoe from the table and drop it on the mat",
+    "Grab the smooth-textured red shoe using the left arm, move it from the table to the mat",
+    "Retrieve the medium red shoe from the table and set it on the mat",
+    "Grab the footwear with red top white sole using the left arm and drop it on the mat",
+    "Lift the medium red shoe and place it on the mat",
+    "Use the left arm to grab the the grooved sole red shoe from the table and set it on the mat",
+    "Pick the sports shoe up from the table and put it on the mat",
+    "Pick up the medium red shoe from the table and set it on the mat",
+    "Lift the white bottom sports shoe from the table and place it carefully on the mat",
+    "Move the lace-up red sports shoe from the table to the mat",
+    "Move the smooth-textured red shoe from the table to the mat in one fluid motion",
+    "Use the left arm to lift the lace-up red sports shoe from the table and set it on the mat",
+    "Grab the sports shoe from the table with the left arm and place it on the mat",
+    "Take the smooth-textured red shoe from the table and place it on the mat",
+    "Move the sports shoe from the table to the mat",
+    "Grab the white bottom sports shoe from the table and place it on the mat",
+    "Lift the red sneaker using the left arm from the table and place it on the mat",
+    "Use the left arm to pick the red shoe rounded at front off the table and move it onto the mat",
+    "Lift the smooth-textured red shoe off the table using the left arm and drop it on the mat",
+    "Use the left arm to grab the white bottom sports shoe from the table and move it to the mat",
+    "With the left arm, grab the smooth-textured red shoe off the table and place it onto the mat",
+    "With the left arm, grab the red shoe with white sole from the table and place it on the mat",
+    "Pick up the lace-up red sports shoe with the left arm, move it from the table, and set it on the mat"
+  ],
+  "unseen": [
+    "Grab the red shoe and set it on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Use the left arm to lift the synthetic shoe upper and drop it on the mat",
+    "Use the left arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Grab the the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Use the left arm to lift the red shoe and drop it on the mat",
+    "Use the left arm to grab the red shoe from the table and place it on the mat",
+    "Grab the the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Pick up the the red sneaker medium sized from the table and place it on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Use the left arm to lift the red shoe and drop it on the mat",
+    "Use the left arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Pick up the the red sneaker medium sized from the table and place it on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Use the left arm to lift the synthetic shoe upper and drop it on the mat",
+    "Use the left arm to grab the synthetic shoe upper from the table and place it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Grab the red sneaker medium sized and set it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Pick up the the red sneaker medium sized from the table and place it on the mat",
+    "Grab the red shoe off the table and drop it on the mat",
+    "Use the left arm to lift the red sneaker medium sized and drop it on the mat",
+    "Use the left arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the red shoe and set it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Use the left arm to lift the red shoe and drop it on the mat",
+    "Use the left arm to grab the red shoe from the table and place it on the mat",
+    "Grab the the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the red shoe and set it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it down on the mat",
+    "Pick up the the red sneaker medium sized from the table and place it on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Use the left arm to lift the synthetic shoe upper and drop it on the mat",
+    "Use the left arm to grab the red shoe from the table and place it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Grab the red shoe and set it on the mat",
+    "Grab the red shoe from the table and place it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Use the left arm to lift the red shoe and drop it on the mat",
+    "Use the left arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Grab the synthetic shoe upper and set it on the mat",
+    "Grab the red sneaker medium sized from the table and place it on the mat",
+    "Pick up the red sneaker medium sized from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it down on the mat",
+    "Pick up the the synthetic shoe upper from the table and place it on the mat",
+    "Grab the red sneaker medium sized off the table and drop it on the mat",
+    "Use the left arm to lift the red shoe and drop it on the mat",
+    "Use the left arm to grab the red shoe from the table and place it on the mat",
+    "Grab the the synthetic shoe upper from the table and set it on the mat",
+    "Pick up the synthetic shoe upper from the table and set it on the mat",
+    "Grab the red shoe and set it on the mat",
+    "Grab the synthetic shoe upper from the table and place it on the mat",
+    "Pick up the red shoe from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it down on the mat",
+    "Pick up the the red shoe from the table and place it on the mat",
+    "Grab the synthetic shoe upper off the table and drop it on the mat",
+    "Use the left arm to lift the synthetic shoe upper and drop it on the mat",
+    "Use the left arm to grab the red sneaker medium sized from the table and place it on the mat",
+    "Grab the the red shoe from the table and set it on the mat",
+    "Pick up the red shoe from the table and set it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode97.json b/place_shoe/demo_clean/instructions/episode97.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f476108887fef661f8b9483b98dd06aad805742
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode97.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the the shoe with textured sole and put it on the mat",
+    "Lift the the shoe with curved sole from the table using the left arm and place it on the mat",
+    "Move the medium-sized rounded white shoe from the table and place it down on the mat",
+    "Grab the medium-sized rounded white shoe from the table with the left arm and place it on the mat",
+    "Pick up the shoe with curved sole from the table and set it on the mat",
+    "With the left arm, pick the shoe with lace holes up from the table and put it on the mat",
+    "Move the shoe with textured sole from the table to the mat in one fluid motion",
+    "Use the left arm to pick up the medium-sized rounded white shoe from the table and drop it on the mat",
+    "Take the shoe with curved sole from the table and carefully drop it on the mat",
+    "Use the left arm to grab the shoe for walking from the table and move it to the mat",
+    "Pick the the shoe with patterned bottom off the table and position it on the mat",
+    "Take the medium white shoe from the table and position it on the mat",
+    "Use the left arm to pick the shoe with curved sole and position it on the mat",
+    "Transfer the medium-sized rounded white shoe from the table to the mat",
+    "Take the smooth white shoe with the left arm and place it carefully on the mat",
+    "Remove the shoe with textured sole from the table and lay it on the mat",
+    "Take the shoe with lace holes from the table and put it on the mat",
+    "Use the left arm to lift the shoe with lace holes from the table and set it on the mat",
+    "Take the smooth white shoe from the table and place it on the mat",
+    "Take the the synthetic leather shoe off the table and put it on the mat",
+    "Lift the medium-sized rounded white shoe using the left arm from the table and place it on the mat",
+    "Pick the shoe with patterned bottom up from the table and put it on the mat",
+    "With the left arm, grab the white sneaker shoe off the table and place it onto the mat",
+    "Use the left arm to grab the the white shoe with rubber sole from the table and set it on the mat",
+    "Take the white sneaker shoe and put it on the mat",
+    "Lift the synthetic leather shoe and place it on the mat",
+    "Move the synthetic leather shoe from the table to the mat",
+    "Use the left arm to lift the the white shoe with rubber sole from the table and set it on the mat",
+    "Pick the shoe with lace holes up from the table and drop it directly on the mat",
+    "Take the the rubber sole shoe from the table using the left arm and drop it on the mat",
+    "With the left arm, grab the medium white shoe from the table and place it on the mat",
+    "Retrieve the shoe with lace holes from the table and set it on the mat",
+    "Pick up the white sneaker shoe with the left arm from the table and place it on the mat",
+    "Using the left arm, lift the shoe with patterned bottom from the table and place it onto the mat",
+    "Pick up the synthetic leather shoe and move it to the mat",
+    "Lift the rubber sole shoe from the table and gently place it onto the mat",
+    "Grab the the synthetic leather shoe on the table and move it to the mat",
+    "Grab the white sneaker shoe using the left arm and drop it on the mat",
+    "Lift the synthetic leather shoe off the table using the left arm and drop it on the mat",
+    "Lift the shoe with curved sole from the table and place it carefully on the mat",
+    "Grab the medium white shoe from the table and place it on the mat",
+    "Pick the the shoe with curved sole from the table and place it gently on the mat",
+    "Lift the the white sneaker shoe from the table and place it onto the mat",
+    "Use the left arm to pick the white shoe with rubber sole off the table and move it onto the mat",
+    "Pick up the shoe with patterned bottom with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to lift the medium white shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe with rubber sole and transfer it to the mat",
+    "Move the smooth white shoe from the table to the mat",
+    "Grab the shoe with curved sole using the left arm, move it from the table to the mat",
+    "Using the left arm, grasp the rubber sole shoe from the table and place it onto the mat",
+    "Use the left arm to grab the the medium-sized rounded white shoe and put it on the mat",
+    "Lift the the shoe with patterned bottom from the table using the left arm and place it on the mat",
+    "Move the white shoe with rubber sole from the table and place it down on the mat",
+    "Grab the shoe with patterned bottom from the table with the left arm and place it on the mat",
+    "Pick up the shoe with patterned bottom from the table and set it on the mat",
+    "With the left arm, pick the medium white shoe up from the table and put it on the mat",
+    "Move the shoe for walking from the table to the mat in one fluid motion",
+    "Use the left arm to pick up the medium white shoe from the table and drop it on the mat",
+    "Take the smooth white shoe from the table and carefully drop it on the mat",
+    "Use the left arm to grab the medium white shoe from the table and move it to the mat",
+    "Pick the the white shoe with rubber sole off the table and position it on the mat",
+    "Take the shoe with patterned bottom from the table and position it on the mat",
+    "Use the left arm to pick the white sneaker shoe and position it on the mat",
+    "Transfer the medium white shoe from the table to the mat",
+    "Take the synthetic leather shoe with the left arm and place it carefully on the mat",
+    "Remove the shoe for walking from the table and lay it on the mat",
+    "Take the synthetic leather shoe from the table and put it on the mat",
+    "Use the left arm to lift the rubber sole shoe from the table and set it on the mat",
+    "Take the shoe for walking from the table and place it on the mat",
+    "Take the the shoe with textured sole off the table and put it on the mat",
+    "Lift the white shoe with rubber sole using the left arm from the table and place it on the mat",
+    "Pick the shoe for walking up from the table and put it on the mat",
+    "With the left arm, grab the rubber sole shoe off the table and place it onto the mat",
+    "Use the left arm to grab the the smooth white shoe from the table and set it on the mat",
+    "Take the shoe with patterned bottom and put it on the mat",
+    "Lift the white sneaker shoe and place it on the mat",
+    "Move the shoe with patterned bottom from the table to the mat",
+    "Use the left arm to lift the the shoe with curved sole from the table and set it on the mat",
+    "Pick the rubber sole shoe up from the table and drop it directly on the mat",
+    "Take the the shoe with lace holes from the table using the left arm and drop it on the mat",
+    "With the left arm, grab the white shoe with rubber sole from the table and place it on the mat",
+    "Retrieve the shoe with patterned bottom from the table and set it on the mat",
+    "Pick up the medium white shoe with the left arm from the table and place it on the mat",
+    "Using the left arm, lift the smooth white shoe from the table and place it onto the mat",
+    "Pick up the smooth white shoe and move it to the mat",
+    "Lift the shoe for walking from the table and gently place it onto the mat",
+    "Grab the the medium white shoe on the table and move it to the mat",
+    "Grab the medium-sized rounded white shoe using the left arm and drop it on the mat",
+    "Lift the medium white shoe off the table using the left arm and drop it on the mat",
+    "Lift the shoe for walking from the table and place it carefully on the mat",
+    "Grab the rubber sole shoe from the table and place it on the mat",
+    "Pick the the white shoe with rubber sole from the table and place it gently on the mat",
+    "Lift the the white sneaker shoe from the table and place it onto the mat",
+    "Use the left arm to pick the medium-sized rounded white shoe off the table and move it onto the mat",
+    "Pick up the shoe with lace holes with the left arm, move it from the table, and set it on the mat",
+    "Use the left arm to lift the shoe with lace holes from the table and set it on the mat",
+    "Use the left arm to grab the shoe for walking and transfer it to the mat",
+    "Move the white sneaker shoe from the table to the mat",
+    "Grab the rubber sole shoe using the left arm, move it from the table to the mat",
+    "Using the left arm, grasp the medium-sized rounded white shoe from the table and place it onto the mat"
+  ],
+  "unseen": [
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode98.json b/place_shoe/demo_clean/instructions/episode98.json
new file mode 100644
index 0000000000000000000000000000000000000000..12f282b27ecb8c99ef75b3c74eb4961bc2b603ab
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode98.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, pick the shoe with textured sole up from the table and put it on the mat",
+    "Lift the white sneaker shoe off the table using the left arm and drop it on the mat",
+    "Take the synthetic leather shoe from the table and place it on the mat",
+    "Lift the medium-sized rounded white shoe using the left arm from the table and place it on the mat",
+    "Move the rubber sole shoe from the table to the mat",
+    "Take the medium white shoe from the table and put it on the mat",
+    "Using the left arm, lift the smooth white shoe from the table and place it onto the mat",
+    "Lift the the medium white shoe from the table and place it onto the mat",
+    "Pick the the medium-sized rounded white shoe from the table and place it gently on the mat",
+    "Use the left arm to pick the white sneaker shoe off the table and move it onto the mat",
+    "Take the shoe with textured sole with the left arm and place it carefully on the mat",
+    "Take the shoe for walking and put it on the mat",
+    "Grab the the medium white shoe on the table and move it to the mat",
+    "With the left arm, grab the shoe with lace holes from the table and place it on the mat",
+    "Use the left arm to lift the shoe with lace holes from the table and set it on the mat",
+    "Pick up the shoe for walking with the left arm from the table and place it on the mat",
+    "Using the left arm, grasp the shoe for walking from the table and place it onto the mat",
+    "Grab the shoe for walking from the table with the left arm and place it on the mat",
+    "Remove the white sneaker shoe from the table and lay it on the mat",
+    "With the left arm, grab the shoe with lace holes off the table and place it onto the mat",
+    "Use the left arm to grab the medium-sized rounded white shoe from the table and move it to the mat",
+    "Lift the medium-sized rounded white shoe and place it on the mat",
+    "Use the left arm to lift the rubber sole shoe from the table and set it on the mat",
+    "Grab the shoe with textured sole from the table and place it on the mat",
+    "Take the the synthetic leather shoe from the table using the left arm and drop it on the mat",
+    "Transfer the rubber sole shoe from the table to the mat",
+    "Take the shoe with patterned bottom from the table and position it on the mat",
+    "Use the left arm to pick up the shoe with lace holes from the table and drop it on the mat",
+    "Move the rubber sole shoe from the table to the mat",
+    "Lift the the smooth white shoe from the table using the left arm and place it on the mat",
+    "Pick the the shoe with textured sole off the table and position it on the mat",
+    "Take the shoe with lace holes from the table and carefully drop it on the mat",
+    "Grab the smooth white shoe using the left arm, move it from the table to the mat",
+    "Lift the medium white shoe from the table and place it carefully on the mat",
+    "Retrieve the smooth white shoe from the table and set it on the mat",
+    "Pick the shoe with curved sole up from the table and put it on the mat",
+    "Pick up the smooth white shoe from the table and set it on the mat",
+    "Use the left arm to grab the white shoe with rubber sole and transfer it to the mat",
+    "Use the left arm to lift the the smooth white shoe from the table and set it on the mat",
+    "Use the left arm to grab the the shoe with textured sole from the table and set it on the mat",
+    "Move the shoe with curved sole from the table and place it down on the mat",
+    "Pick the smooth white shoe up from the table and drop it directly on the mat",
+    "Use the left arm to grab the the medium-sized rounded white shoe and put it on the mat",
+    "Move the synthetic leather shoe from the table to the mat in one fluid motion",
+    "Use the left arm to pick the synthetic leather shoe and position it on the mat",
+    "Take the the medium-sized rounded white shoe off the table and put it on the mat",
+    "Pick up the synthetic leather shoe and move it to the mat",
+    "Lift the shoe with curved sole from the table and gently place it onto the mat",
+    "Grab the shoe for walking using the left arm and drop it on the mat",
+    "Pick up the white shoe with rubber sole with the left arm, move it from the table, and set it on the mat",
+    "With the left arm, pick the shoe with curved sole up from the table and put it on the mat",
+    "Lift the smooth white shoe off the table using the left arm and drop it on the mat",
+    "Take the white shoe with rubber sole from the table and place it on the mat",
+    "Lift the shoe with patterned bottom using the left arm from the table and place it on the mat",
+    "Move the shoe for walking from the table to the mat",
+    "Take the shoe with textured sole from the table and put it on the mat",
+    "Using the left arm, lift the synthetic leather shoe from the table and place it onto the mat",
+    "Lift the the medium white shoe from the table and place it onto the mat",
+    "Pick the the medium-sized rounded white shoe from the table and place it gently on the mat",
+    "Use the left arm to pick the white sneaker shoe off the table and move it onto the mat",
+    "Take the medium white shoe with the left arm and place it carefully on the mat",
+    "Take the synthetic leather shoe and put it on the mat",
+    "Grab the the rubber sole shoe on the table and move it to the mat",
+    "With the left arm, grab the shoe with textured sole from the table and place it on the mat",
+    "Use the left arm to lift the shoe with patterned bottom from the table and set it on the mat",
+    "Pick up the white sneaker shoe with the left arm from the table and place it on the mat",
+    "Using the left arm, grasp the shoe for walking from the table and place it onto the mat",
+    "Grab the synthetic leather shoe from the table with the left arm and place it on the mat",
+    "Remove the shoe with textured sole from the table and lay it on the mat",
+    "With the left arm, grab the white shoe with rubber sole off the table and place it onto the mat",
+    "Use the left arm to grab the shoe with curved sole from the table and move it to the mat",
+    "Lift the shoe with textured sole and place it on the mat",
+    "Use the left arm to lift the white shoe with rubber sole from the table and set it on the mat",
+    "Grab the smooth white shoe from the table and place it on the mat",
+    "Take the the smooth white shoe from the table using the left arm and drop it on the mat",
+    "Transfer the shoe with textured sole from the table to the mat",
+    "Take the medium white shoe from the table and position it on the mat",
+    "Use the left arm to pick up the shoe for walking from the table and drop it on the mat",
+    "Move the shoe with curved sole from the table to the mat",
+    "Lift the the white sneaker shoe from the table using the left arm and place it on the mat",
+    "Pick the the smooth white shoe off the table and position it on the mat",
+    "Take the shoe for walking from the table and carefully drop it on the mat",
+    "Grab the shoe with curved sole using the left arm, move it from the table to the mat",
+    "Lift the medium-sized rounded white shoe from the table and place it carefully on the mat",
+    "Retrieve the smooth white shoe from the table and set it on the mat",
+    "Pick the medium-sized rounded white shoe up from the table and put it on the mat",
+    "Pick up the shoe with patterned bottom from the table and set it on the mat",
+    "Use the left arm to grab the shoe with patterned bottom and transfer it to the mat",
+    "Use the left arm to lift the the medium white shoe from the table and set it on the mat",
+    "Use the left arm to grab the the rubber sole shoe from the table and set it on the mat",
+    "Move the smooth white shoe from the table and place it down on the mat",
+    "Pick the synthetic leather shoe up from the table and drop it directly on the mat",
+    "Use the left arm to grab the the medium-sized rounded white shoe and put it on the mat",
+    "Move the shoe with lace holes from the table to the mat in one fluid motion",
+    "Use the left arm to pick the white sneaker shoe and position it on the mat",
+    "Take the the white shoe with rubber sole off the table and put it on the mat",
+    "Pick up the shoe with curved sole and move it to the mat",
+    "Lift the medium white shoe from the table and gently place it onto the mat",
+    "Grab the shoe with patterned bottom using the left arm and drop it on the mat",
+    "Pick up the white sneaker shoe with the left arm, move it from the table, and set it on the mat"
+  ],
+  "unseen": [
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the rounded white shoe from the table and set it down on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the white shoe off the table and drop it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the rounded white shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the medium adult shoe and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to lift the rounded white shoe and drop it on the mat",
+    "Grab the medium adult shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Use the left arm to grab the medium adult shoe from the table and place it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the white shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the medium adult shoe off the table and drop it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the the rounded white shoe from the table and set it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat",
+    "Grab the rounded white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Pick up the white shoe from the table and set it down on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Grab the rounded white shoe and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Use the left arm to grab the rounded white shoe from the table and place it on the mat",
+    "Grab the the medium adult shoe from the table and set it on the mat",
+    "Use the left arm to lift the white shoe and drop it on the mat",
+    "Grab the white shoe from the table and place it on the mat",
+    "Pick up the the medium adult shoe from the table and place it on the mat",
+    "Pick up the rounded white shoe from the table and set it on the mat",
+    "Pick up the medium adult shoe from the table and set it down on the mat",
+    "Pick up the medium adult shoe from the table and set it on the mat",
+    "Grab the white shoe and set it on the mat",
+    "Grab the rounded white shoe off the table and drop it on the mat",
+    "Use the left arm to grab the white shoe from the table and place it on the mat",
+    "Grab the the white shoe from the table and set it on the mat",
+    "Use the left arm to lift the medium adult shoe and drop it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/instructions/episode99.json b/place_shoe/demo_clean/instructions/episode99.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6420e559a2dd29f7f5b9549fa4bfdc96be46919
--- /dev/null
+++ b/place_shoe/demo_clean/instructions/episode99.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the white shoe with rounded toe up from the table and put it on the mat",
+    "Lift the white and black combination shoe from the table and place it carefully on the mat",
+    "Use the right arm to grab the white shoe with rounded toe and transfer it to the mat",
+    "Use the right arm to grab the the sleek white walking shoe from the table and set it on the mat",
+    "Grab the white shoe with rounded toe using the right arm and drop it on the mat",
+    "Use the right arm to grab the shoe for everyday walking from the table and move it to the mat",
+    "Pick the the synthetic leather white shoe from the table and place it gently on the mat",
+    "Take the the white shoe with rounded toe off the table and put it on the mat",
+    "Use the right arm to lift the white shoe with curved sole from the table and set it on the mat",
+    "Use the right arm to lift the synthetic leather white shoe from the table and set it on the mat",
+    "Pick up the white shoe with rounded toe from the table and set it on the mat",
+    "Lift the the sleek white walking shoe from the table and place it onto the mat",
+    "Move the soft rubber-soled white shoe from the table and place it down on the mat",
+    "Take the white shoe with the right arm and place it carefully on the mat",
+    "Take the white and black combination shoe from the table and position it on the mat",
+    "Pick the the shoe with lace-up front off the table and position it on the mat",
+    "With the right arm, grab the soft rubber-soled white shoe off the table and place it onto the mat",
+    "Move the sleek white walking shoe from the table to the mat",
+    "Grab the medium-sized casual shoe using the right arm, move it from the table to the mat",
+    "Pick up the soft rubber-soled white shoe and move it to the mat",
+    "Lift the soft rubber-soled white shoe using the right arm from the table and place it on the mat",
+    "Grab the medium-sized casual shoe from the table with the right arm and place it on the mat",
+    "Move the synthetic leather white shoe from the table to the mat in one fluid motion",
+    "Lift the white shoe with rounded toe and place it on the mat",
+    "Use the right arm to pick the white shoe with curved sole and position it on the mat",
+    "Remove the shoe for everyday walking from the table and lay it on the mat",
+    "Use the right arm to pick up the white and black combination shoe from the table and drop it on the mat",
+    "Grab the synthetic leather white shoe from the table and place it on the mat",
+    "Move the medium-sized casual shoe from the table to the mat",
+    "Take the white shoe with rounded toe and put it on the mat",
+    "Use the right arm to grab the the sleek white walking shoe and put it on the mat",
+    "Grab the the white shoe with rounded toe on the table and move it to the mat",
+    "Using the right arm, lift the white and black combination shoe from the table and place it onto the mat",
+    "Take the the white shoe with rounded toe from the table using the right arm and drop it on the mat",
+    "Take the shoe for everyday walking from the table and place it on the mat",
+    "Pick up the synthetic leather white shoe with the right arm from the table and place it on the mat",
+    "Retrieve the shoe for everyday walking from the table and set it on the mat",
+    "Use the right arm to lift the the white shoe with rounded toe from the table and set it on the mat",
+    "Pick up the shoe with black back detail with the right arm, move it from the table, and set it on the mat",
+    "Using the right arm, grasp the shoe with black heel patch from the table and place it onto the mat",
+    "Take the white shoe with rounded toe from the table and carefully drop it on the mat",
+    "Lift the medium-sized casual shoe off the table using the right arm and drop it on the mat",
+    "Lift the the shoe for everyday walking from the table using the right arm and place it on the mat",
+    "With the right arm, pick the sleek white walking shoe up from the table and put it on the mat",
+    "Transfer the white shoe with rounded toe from the table to the mat",
+    "With the right arm, grab the white shoe from the table and place it on the mat",
+    "Use the right arm to pick the white shoe off the table and move it onto the mat",
+    "Take the white shoe with rounded toe from the table and put it on the mat",
+    "Pick the shoe with black back detail up from the table and drop it directly on the mat",
+    "Lift the white shoe with curved sole from the table and gently place it onto the mat",
+    "Pick the synthetic leather white shoe up from the table and put it on the mat",
+    "Lift the shoe with black heel patch from the table and place it carefully on the mat",
+    "Use the right arm to grab the soft rubber-soled white shoe and transfer it to the mat",
+    "Use the right arm to grab the the synthetic leather white shoe from the table and set it on the mat",
+    "Grab the shoe with lace-up front using the right arm and drop it on the mat",
+    "Use the right arm to grab the sleek white walking shoe from the table and move it to the mat",
+    "Pick the the soft rubber-soled white shoe from the table and place it gently on the mat",
+    "Take the the shoe with black heel patch off the table and put it on the mat",
+    "Use the right arm to lift the shoe with black back detail from the table and set it on the mat",
+    "Use the right arm to lift the sleek white walking shoe from the table and set it on the mat",
+    "Pick up the shoe with black heel patch from the table and set it on the mat",
+    "Lift the the shoe with black heel patch from the table and place it onto the mat",
+    "Move the shoe with black back detail from the table and place it down on the mat",
+    "Take the shoe for everyday walking with the right arm and place it carefully on the mat",
+    "Take the shoe with lace-up front from the table and position it on the mat",
+    "Pick the the soft rubber-soled white shoe off the table and position it on the mat",
+    "With the right arm, grab the shoe with black heel patch off the table and place it onto the mat",
+    "Move the white shoe with rounded toe from the table to the mat",
+    "Grab the medium-sized casual shoe using the right arm, move it from the table to the mat",
+    "Pick up the white shoe and move it to the mat",
+    "Lift the sleek white walking shoe using the right arm from the table and place it on the mat",
+    "Grab the shoe with lace-up front from the table with the right arm and place it on the mat",
+    "Move the shoe with black heel patch from the table to the mat in one fluid motion",
+    "Lift the shoe with lace-up front and place it on the mat",
+    "Use the right arm to pick the shoe with black back detail and position it on the mat",
+    "Remove the white and black combination shoe from the table and lay it on the mat",
+    "Use the right arm to pick up the sleek white walking shoe from the table and drop it on the mat",
+    "Grab the shoe with black back detail from the table and place it on the mat",
+    "Move the white and black combination shoe from the table to the mat",
+    "Take the shoe with black back detail and put it on the mat",
+    "Use the right arm to grab the the synthetic leather white shoe and put it on the mat",
+    "Grab the the sleek white walking shoe on the table and move it to the mat",
+    "Using the right arm, lift the white shoe with curved sole from the table and place it onto the mat",
+    "Take the the white shoe from the table using the right arm and drop it on the mat",
+    "Take the shoe for everyday walking from the table and place it on the mat",
+    "Pick up the white shoe with the right arm from the table and place it on the mat",
+    "Retrieve the white and black combination shoe from the table and set it on the mat",
+    "Use the right arm to lift the the white shoe with curved sole from the table and set it on the mat",
+    "Pick up the shoe with lace-up front with the right arm, move it from the table, and set it on the mat",
+    "Using the right arm, grasp the synthetic leather white shoe from the table and place it onto the mat",
+    "Take the soft rubber-soled white shoe from the table and carefully drop it on the mat",
+    "Lift the soft rubber-soled white shoe off the table using the right arm and drop it on the mat",
+    "Lift the the white and black combination shoe from the table using the right arm and place it on the mat",
+    "With the right arm, pick the shoe for everyday walking up from the table and put it on the mat",
+    "Transfer the shoe with black heel patch from the table to the mat",
+    "With the right arm, grab the white shoe with rounded toe from the table and place it on the mat",
+    "Use the right arm to pick the shoe with black heel patch off the table and move it onto the mat",
+    "Take the shoe with black back detail from the table and put it on the mat",
+    "Pick the shoe with lace-up front up from the table and drop it directly on the mat",
+    "Lift the white shoe with curved sole from the table and gently place it onto the mat"
+  ],
+  "unseen": [
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the black-accented white shoe off the table and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the right arm to grab the shoe with rubber bottom from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the the black-accented white shoe from the table and place it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it down on the mat",
+    "Grab the black-accented white shoe and set it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it on the mat",
+    "Grab the the smooth white shoe with laces from the table and set it on the mat",
+    "Use the right arm to lift the smooth white shoe with laces and drop it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the smooth white shoe with laces from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the black-accented white shoe from the table and set it down on the mat",
+    "Grab the shoe with rubber bottom and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the black-accented white shoe from the table and set it on the mat",
+    "Use the right arm to lift the shoe with rubber bottom and drop it on the mat",
+    "Grab the shoe with rubber bottom off the table and drop it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the smooth white shoe with laces from the table and place it on the mat",
+    "Use the right arm to grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the shoe with rubber bottom from the table and set it down on the mat",
+    "Grab the smooth white shoe with laces and set it on the mat",
+    "Pick up the smooth white shoe with laces from the table and set it on the mat",
+    "Grab the the shoe with rubber bottom from the table and set it on the mat",
+    "Use the right arm to lift the black-accented white shoe and drop it on the mat",
+    "Grab the smooth white shoe with laces off the table and drop it on the mat",
+    "Pick up the black-accented white shoe from the table and set it on the mat",
+    "Grab the black-accented white shoe from the table and place it on the mat",
+    "Pick up the the shoe with rubber bottom from the table and place it on the mat",
+    "Use the right arm to grab the smooth white shoe with laces from the table and place it on the mat"
+  ]
+}
\ No newline at end of file
diff --git a/place_shoe/demo_clean/scene_info.json b/place_shoe/demo_clean/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..919d8b44a865b221633e0d33927929bbec886246
--- /dev/null
+++ b/place_shoe/demo_clean/scene_info.json
@@ -0,0 +1,1102 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base3",
+            "{a}": "left"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base1",
+            "{a}": "right"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base6",
+            "{a}": "left"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base4",
+            "{a}": "left"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base5",
+            "{a}": "right"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base2",
+            "{a}": "right"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base1",
+            "{a}": "left"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base8",
+            "{a}": "right"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base2",
+            "{a}": "right"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base7",
+            "{a}": "right"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base8",
+            "{a}": "right"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base6",
+            "{a}": "left"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base2",
+            "{a}": "right"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base5",
+            "{a}": "left"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base3",
+            "{a}": "right"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base5",
+            "{a}": "right"
+        }
+    },
+    "episode_20": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base7",
+            "{a}": "right"
+        }
+    },
+    "episode_21": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base1",
+            "{a}": "right"
+        }
+    },
+    "episode_22": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base7",
+            "{a}": "right"
+        }
+    },
+    "episode_23": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base8",
+            "{a}": "left"
+        }
+    },
+    "episode_24": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base7",
+            "{a}": "left"
+        }
+    },
+    "episode_25": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_26": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base1",
+            "{a}": "right"
+        }
+    },
+    "episode_27": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base9",
+            "{a}": "right"
+        }
+    },
+    "episode_28": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base5",
+            "{a}": "right"
+        }
+    },
+    "episode_29": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "041_shoe/base1",
+            "{a}": "left"
+        }
+    },
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